| 机器人的中间坐标系快速坐标变换法及其应用 |
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| 引用本文： | 靳桂华 咸奎桐. 机器人的中间坐标系快速坐标变换法及其应用[J]. 北方工业大学学报, 1990, 2(3): 44-53 |
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| 作者姓名： | 靳桂华 咸奎桐 |
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| 作者单位： | 北方工业大学工学部(靳桂华)，中国科学院长春光机所(咸奎桐) |
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| 摘 要： | 本文所提出的利用中间坐标系的坐标变换法,是对6自由度机器人进行运动学分析的快速有效方法.文中以西德KUKA公司生产的KUKA·IR662/100型机器人为例进行运动学分析,得到满意的结果.
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| 关 键 词： | 机器人 坐标变换 运动学 |
EXPEDITIOUS TRANSFORMATION OF MIDDLE COORDINATE SYSTEM OF ROBOTS AND ITS APPLICATION |
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| Jin Guihua Xian Kuitong. EXPEDITIOUS TRANSFORMATION OF MIDDLE COORDINATE SYSTEM OF ROBOTS AND ITS APPLICATION[J]. Journal of North China University of Technology, 1990, 2(3): 44-53 |
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| Authors: | Jin Guihua Xian Kuitong |
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| Affiliation: | Jin Guihua Xian Kuitong( Department of Engineering ) ( Changchun Reasarch Institute ofOptics & Precision Machinery ) |
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| Abstract: | The middle coordinate transformational approach presented in the paper is both quick and effective to the analysis of a robot with six-degree freedom. Satisfactory results have been obtained through the kinematic analysis of a West-Germany-made KUKA IR 662/100 robot taken as an example. |
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| Keywords: | kinematics transformation of the coordinate frames robot |
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