| 机器人通用运动学自动建模技术 |
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| 引用本文： | 付宜利,王树国.机器人通用运动学自动建模技术[J].哈尔滨工业大学学报,1995,27(4):115-120,108. |
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| 作者姓名： | 付宜利 王树国 |
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| 摘 要： | 多自由度机器人运动学自动建模问题是机器人仿真与离线编程系统中的关键技术。本文给出了自动建立机器人关节座标架原则，ＤＨ参数正负号确定原则，描述了关节座标架建立流程及ＤＨ参数求解方法。利用该理论开发了通用机器人运动学自动建模程序。
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| 关 键 词： | 机器人 仿真 离线编程 运动学 自动建模 |
The Technique of Automatically Buiding Kinematic Model for Robots |
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| Fu Yili, Wang Shugou, Ma Yulin, Cai Hegao.The Technique of Automatically Buiding Kinematic Model for Robots[J].Journal of Harbin Institute of Technology,1995,27(4):115-120,108. |
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| Authors: | Fu Yili Wang Shugou Ma Yulin Cai Hegao |
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| Affiliation: | Robot Research Inst. |
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| Abstract: | Automatically building kinematic model of robots with multiple joints is a key problem to be solved in robot simulation and off-line programming system. This paper gives a general method of creating kinematic model of robots, which includes building joint links by DH rule, setting up joint coordinate frames and finding DH parameters. A general software by this principle in SGI is developed. |
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| Keywords: | Robot simulation off-line programing kinernatics automatically modeling |
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