六自由度机器人运动学分析  

Kinematics Analysis of 6-DOF Robot

作　　者：殷固密 王建生 YIN Gumi;WANG Jiansheng(Faculty of Intelligent Manufacture,Wuyi University,Jiangmen 529020,China)

机构地区：[1]五邑大学智能制造学部,广东江门529020

出　　处：《机械工程师》2021年第1期25-28,共4页Mechanical Engineer

摘　　要：针对机器人不同运动学的建模方法,以KUKA机器人KR16-2为模型,分别采用Craig和Spong的D-H方法(全称Denavit-Hartenberg方法),建立D-H坐标系,建立机器人运动学模型,求解正逆运动学方程,并利用MATLAB中的Robotics Toolbox工具箱对机器人正逆运动学进行示教验证。通过两种D-H方法比较验证了机器人运动学模型的正确性与合理性,同时,在末端三关节轴线相交于一点的六自由度工业机器人中,两种不同D-H方法除了在模型建立上不同外,其最终正逆运动学求解一致。Aiming at different kinematic modeling methods of robots,KUKA robot KR16-2 is taken as the model,and the D-H method of Craig and Spong(full name Denavit-Hartenberg method)is adopted respectively to establish the D-H coordinate system,build the robot kinematics model,calculate the forward and inverse kinematics equation.Robotics Toolbox in MATLAB is used to demonstrate and verify the forward and inverse kinematics of the robot.The correctness and rationality of the robot kinematics model are verified by comparing two D-H methods,and the practical reference is provided for comparing and distinguishing the two different D-H methods.

关 键 词：机器人运动学 D-H方法 运动学模型 正逆运动学方程 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]