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本文针对葡萄套袋机器人机械臂,建立基于Denavit-Hartenberg法则的运动学模型,对机械臂的正运动学与逆运动学进行求解与分析,利用MATLAB Robotics Toolbox对其结果进行仿真,验证了模型的正确性。利用Robotics Toolbox对机械臂进行了在关节空间的轨迹规划仿真分析,为葡萄套袋机器人机械臂的控制研究提供了基础。
In this paper, a kinematic model based on Denavit-Hartenberg rule is established for the robotic arms of grape-bagging robots. The positive and inverse kinematics of the manipulator are solved and analyzed. The results are simulated by MATLAB Robotics Toolbox. Correctness The Robotics Toolbox was used to simulate the trajectory planning of the manipulator in the joint space, which provided the basis for the research on the control of the grape-bagged robot manipulator.