摘要
在对机器人运动学分析和误差补偿方案建立的基础上,提出用数值法对与测量机器人连接的工业机器人的工作空间进行求解。对六自由度串联机器人的工作空间进行了MATLAB三维图形仿真,同时分析介于测量机器人和工业机器人之间的联动装置的球面副转角,研究球面副转角对工业机器人工作空间的影响情况。
Based on the kinematics analysis and error compensation scheme of robot,the author presents a numerical method to solve the problem of working space for the industrial robots that connects with measuring robots.The 3D graphic simulation using MATLAB software is carried out for the working space of the six freedom degrees series robots.Meanwhile,the spher-ical angle of the linkage between measuring robot and industrial robots is analyzed to investigate the influence of spherical angle on working space of industrial robots.
出处
《工业控制计算机》
2014年第6期102-103,共2页
Industrial Control Computer
