【摘要】 以IRB2400工业机器人为研究对象,对其机构和连杆参数进行分析,采用D-H法对机器人进行正运动学和逆运动学分析,建立运动学方程。在MATLAB环境下,运用Robotics Toolbox工具箱进行建模仿真,仿真结果证明了所建立的运动学正、逆解模型的合理性和正确性。更多还原

【Abstract】 Taking IRB2400 industrial robot as example,structure and link parameters were analyzed. The D-H parameter method was applied in the analysis of forward kinematics and inverse kinematics and kinematical equations were established. In MATLAB environment,the Robotics Toolbox was used for modeling and simulation. The simulation results prove that the established models of the solutions of forward and inverse kinematics are reasonable and correct.更多还原