Motoman-UP20机器人运动学分析及求解

采用Denavit—Hartenberg坐标变换法建立Motoman—UP20六自由度机器人运动学模型，并将机器人分解为位置结构和姿态结构，利用臂腕分离法对手臂进行逆运动学分析，并在此基础上推导出末端执行器的逆运动学算法，该算法计算量最小，误差也较小，且可利用机器人的示教盒进行快速检验。利用仿真软件Rotsy建立机器人及其工作环境，仿真证明了该方法的有效性。该算法用于对开发机器人离线编程系统具有重要的作用。

Analysing and resolving of Motoman-UP20 robot kinematics

A space coordinate frame based on the D-H coordinate transformation method is built,and the kinematics formulas of Motoman-UP20 6-axis-robots are established which is decomposed into position structure and stance structure,and arm-wrist separateness method is used to analyze the inverse kinematics of the robot,and inverse kinematics arithmetic about the robot is built according to the theory.The amount of calculation of the arithmetic is the minimum,so is the error.And the validity of the method is proved by building a simulation system in Rotsy.This research be applicable to contriving offline-programming system for arc welding robot and is also helpful to researching and using other robots.