| 6自由度喷涂机器人的运动学分析及仿真研究 |
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| 引用本文： | 王浩,周青松,谢存禧,张铁. 6自由度喷涂机器人的运动学分析及仿真研究[J]. 煤矿机械, 2008, 29(9) |
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| 作者姓名： | 王浩 周青松 谢存禧 张铁 |
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| 作者单位： | 华南理工大学,机械工程学院,广州,510640;华南理工大学,机械工程学院,广州,510640;华南理工大学,机械工程学院,广州,510640;华南理工大学,机械工程学院,广州,510640 |
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| 摘 要： | 在D-H坐标系下建立了6自由度喷涂机器人的运动学模型,采用变换矩阵方法求出了该机器人的正逆运动学的解析表达式。算法在VS.NET平台上用组件技术实现并仿真,仿真结果验证了算法的正确性和实时性。
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| 关 键 词： | 喷涂机器人 正运动学 逆运动学 变换矩阵 组件技术 |
Analysis Kinematics of Six- DOF Painting Robot and Study Simulation |
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| WANG Hao,ZHOU Qing-song,XIE Cun-xi,ZHANG Tie. Analysis Kinematics of Six- DOF Painting Robot and Study Simulation[J]. Coal Mine Machinery, 2008, 29(9) |
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| Authors: | WANG Hao ZHOU Qing-song XIE Cun-xi ZHANG Tie |
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| Abstract: | The Six-DOF painting robot kinematics model is set up through D-H method,at the same time,the transformation matrix method is adopted to obtain the analytic result of the forward and inverse kinematics of the painting robot.The arithmetic is realized and simulated by component technology based on VS.NET platform,and the result of the simulation prove the arithmetic to be correct and real-time. |
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| Keywords: | painting robot forward kinematics inverse kinematics transformation matrix component technology |
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