关于工业机器人运动学中建立坐标转换矩阵的讨论  

Discussion on Establishing the Transition from Reference Frame to Matrix in the Kinematics of Robot

作　　者：王爱东[1] 乔兰柱[2] 

机构地区：[1]河北省人民医院基建房管科,河北石家庄050051 [2]河北广播电视大学理工部,河北石家庄050071

出　　处：《河北工业科技》2002年第4期16-18,共3页Hebei Journal of Industrial Science and Technology

摘　　要：工业机器人的各种执行机构通常都属于空间机构 ,在进行工业机器人设计时 ,首先要建立工业机器人中各执行部件与手部在空间的相对位置关系。分析空间机构的相对位置关系 ,就是研究运动机构在空间坐标系中的旋转和平移 ,建立工业机器人执行机构在空间的相对位置关系的数据模型。文中介绍了工业机器人中各机构空间坐标系的形式、建立和转换 ,并对转换矩阵的建立与分析进行了初步探讨。All kinds of executive mechanism of industrial robots usually belong to space mechanism.First,we should set up the relative place relationship in space between all executive components and hands of industrial robots when designing industrial robots.Analyzing the relative place relationship of space mechanism involves studying gyration and translation of mechanism of movement in space coordinate system,and establishing mathematical models of relationship of executive mechanism of industrial robots in space.This paper introduces the form,establishment and transformation of space coordinate system of all mechanisms in industrial robots,and makes a initial inquiry into the establishment and analysis of translating matrix.

关 键 词：坐标转换矩阵 工业机器人 运动学 矢量 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]