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.
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.
出处
《北方工业大学学报》
1990年第3期44-53,共10页
Journal of North China University of Technology
关键词
机器人
坐标变换
运动学
kinematics, transformation of the coordinate frames, robot
