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利用Denavit-Hartenberg矩阵与几何分析方法对凿岩机器人操作臂末端位姿进行了分析计算,求解了给定末端位姿的操作臂逆运动学问题,推导得出了关节变量的相应的计算公式,为机器人进一步的运动学、动力学、结构及控制设计打下了基础。
The position and posture of the manipulator arm of rock drilling robot are analyzed and calculated by Denavit-Hartenberg matrix and geometric analysis method. The inverse kinematics of the manipulator arm given a terminal pose is solved, and the corresponding formula of joint variable is deduced. It laid the foundation for the robot’s further kinematics, dynamics, structure and control design.