【摘要】 机器人运动学是机器人学的一个重要分支 ,是实现机器人运动控制的基础 .文中主要针对PUMA机器人操作机运动学正问题分析 ,以D -H坐标系理论为基础并建模 ,利用MATLAB工具 ,实现了简单的仿真 ,有助于对机器人关节运动角度的深入理解 ,并为工程人员提供一种有效的分析手段 .更多还原

【Abstract】 Kinematics of robot is an important branch of Robotics and the basis to fulfil kinematical control of robots. An emphasis is placed on the analysis of direct kinematics of PUMA robot’s manipulator. A simple simulation based on D-H coordination system and modeling is performed by the tools of MATLAB software. It is also helpful to deeply understand the moving angles of joints and provides an effective analytic method for engineers.更多还原