| MOTOMAN-HP3型机器人运动学建模 |
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| 引用本文： | 李颖,辛洪兵,赵东洋,林立.MOTOMAN-HP3型机器人运动学建模[J].北京轻工业学院学报,2009(2):20-24. |
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| 作者姓名： | 李颖 辛洪兵 赵东洋 林立 |
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| 作者单位： | 北京工商大学机械工程学院,北京100048 |
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| 基金项目： | 北京市自然科学基金资助项目（3082005）. |
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| 摘 要： | 根据MOTOMAN-HP3型机器人具体结构特点,建立机器人的运动学模型,求出正逆解.并在机器人运动学建模过程中,对关节运动范围的转换规律进行了研究.为机器人运动分析、离线编程、轨迹规划等打下了基础.
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| 关 键 词： | MOTOMAN-HP3 机器人 运动学 正解 逆解 |
KINEMATICS MODELING FOR MOTOMAN-HP3 ROBOT |
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| LI Ying,XIN Hong-bing,ZHAO Dong-yang,LIN Li.KINEMATICS MODELING FOR MOTOMAN-HP3 ROBOT[J].Journal of Beijing Institute of Light Industry,2009(2):20-24. |
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| Authors: | LI Ying XIN Hong-bing ZHAO Dong-yang LIN Li |
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| Affiliation: | (College of Mechanical and Automation Engineering, Beijing Technology and Business University, Beijing 100048, China) |
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| Abstract: | According to the structure characteristics of the MOTOMAN-HP3 robot, the kinematics model was established and the forward and inverse kinematics solutions were deduced. During the process of founding the robot＇s kinematics modeling, the transformation rule of joints motion range was researched. This paper has built the foundation for the robot movement analysis, the off-line programming, the path plan and so on. |
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| Keywords: | MOTOMAN-HP3 robot kinematics forward solution inverse solution |
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