【摘要】 根据MOTOMAN-HP3型机器人具体结构特点,建立机器人的运动学模型,求出正逆解.并在机器人运动学建模过程中,对关节运动范围的转换规律进行了研究.为机器人运动分析、离线编程、轨迹规划等打下了基础.更多还原

【Abstract】 According to the structure characteristics of the MOTOMAN-HP3 robot,the kinematics model was established and the forward and inverse kinematics solutions were deduced.During the process of founding the robot’s kinematics modeling,the transformation rule of joints motion range was researched.This paper has built the foundation for the robot movement analysis,the off-line programming,the path plan and so on.更多还原