摘要
首先使用Denavit-Hartenberg法对机械手进行建摸并对其运动学数值进行计算。然后用Robotics Toolbox机器人工具箱编写该机械手的逆运动学程序。通过仿真,得到了各个关节时间与运动的关系图和运动轨迹图。实现了预定目标,验证了设计参数的正确性和可行性。
Analysis of kinematics and building the mould on a seven degrees of freedom（DOF） robotic hand by the D-H method. Then the Robotics Toolbox is used to program on inverse kinematics. Through the simulation,the drawing joint motion-time relation and trajectory of the robot are got, and the result is match with the scheduled target. It verifies the step of motion rate control method is correct and feasible.
出处
《科学技术与工程》
北大核心
2012年第7期1522-1525,共4页
Science Technology and Engineering
