【摘要】 简要介绍RV12L 6R机器人模型的建立、运动逆解,在笛卡尔坐标系中描述机器手在做相贯线运动时的位姿,在此基础上利用OpenGL对其运动过程进行仿真。更多还原

【Abstract】 This article describe mathematical model and inverse movement based on robot of RV12L 6R, and in Cartesian space analyzed the position and posture of intersection line of the stereoscopic Surface, actual dynamic experiment making use of the OpenGL showed that the movement trajectory of robot end operator coincide with trajectory planning.更多还原