摘要
分析了挖掘机的结构特点 ,应用D H变换矩阵法建立运动学模型 ,推导出逆运动学算法 ,介绍在MATLAB5 3上建立仿真实验系统 ,以验证该算法的有效性。
This paper analyses the feature of excavators.The kinematics model is established using D-H transformation matrix method and the inverse kinematics algorithm is inferred.A computer simulation experimental system is developed in MATLAB 5 3 languages.The simulation results show that the algorithm is effective.
出处
《建筑机械化》
2001年第5期49-51,共3页
Construction Mechanization
关键词
挖掘机
运动学
逆运动学
D-H变换矩阵
位姿
excavator
kinematics
inverse kinematics:D H transformation matrix
position and posture
