三自由度机器人手臂的运动学可视化求解研究  

Visible Solution Study of the Arm Kinematics Based on a 3-DOF Robot

作　　者：侯国柱[1] 汤学华[1] 

机构地区：[1]上海电机学院机械学院,上海200245

出　　处：《机械工程与自动化》2009年第5期7-8,11,共3页Mechanical Engineering & Automation

基　　金：上海高校选拔培养优秀青年教师科研专项基金项目(sdj-07006)

摘　　要：利用Pro/E软件建立机器人手臂模型后,再建立各个关节的坐标系,并给出机器人手臂各连杆参数、各关节变量初始值及其变化范围。运用机器人正、逆解的求解方法在VC++里做出机器人手臂正、逆解的可视化求解界面,此界面既加快了机器人正、逆解的求解速度,也为机器人的控制奠定了基础。After the arm model of a robot was set up using Pro/E software, the coordinate systems of each joint and the parameters of each link and the original value and its changing range of each joint variable were also given. The visible solution interface was finished with VC＋＋ using the solving method of the robot＇s direct and inverse kinematics solution. The visible solution interface not only accelerated the solution speed of the robot＇s direct and inverse kinematics, but also established the foundation for the control of .the robot.

关 键 词：机器人模型 正解和逆解 可视化求解界面 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]