A Kind of Serial Articulated Robot Kinematics Modeling
In order to obtain better treatment the robot complex geometrical parameters,according to article Serial articulated robot laboratory specific structure and characteristics,this paper establishes of a forward kinematics model,and obtainsthe end-finalposition and attitude based on each joint angle of rotation of the known robot.DH rules were established using a coordinate system on the link robot coordinates obtained from the endpoint to the base coordinate transformation matrix T,thereby establishing positive kinematic equations of the robot;while taking advantage of Matlab Robotics Toolbox establishing laboratory robot model,and using Matlab function in FKINE initial position simulation.Simulation results show that the initial position of the model is consistent with laboratory robots,and this shows the correctness of the model.The researc.000 0h has laid a theoretical foundation for robot trajectory planning applications.
NETL
NSTL
万方数据
维普
