【摘要】 数字化制造系统越来越多地集成了工业机器人,应用D-H方法对某型号六轴串联式工业机器人进行运动学建模,推导了相邻连杆和末端齐次变换矩阵,应用matlab对机器人进行仿真建模,验证了机器人运动学模型的正确性。更多还原

【Abstract】 More and more industrial robots have been integrated by digital manufacturing system,and by applying D-H method,a certain six-axis serial industrial robot has been implemented kinematical modeling to conclude homogeneous transformation matirces of adjacent connection rod and ends,further simulation modeling of the robot has been carried out by matlab to verify validity of robot kinematical model.更多还原