【摘要】 基于刚体运动齐次变换理论，应用Craig的改进D-H参数法对ABB-IRB120进行了正逆运动学建模，然后利用MATLAB Toolbox构建了三维数学模型，并采用五次多项式进行插值，最终得到了连续平滑的六自由度机械手IRB120的各关节角位移、角速度、角加速度，以及末端位置、姿态随时间变化曲线，验证了运动学模型建立的合理性和正确性，为串联工业机械手的运动学研究提供了一定的理论参考。更多还原

【Abstract】 Based on the homogeneous transformation theory of the rigid body motion, the forward and inverse kinematics models of ABB-IRB120 is established by means of the modified D-H parameter method. Then, the three-dimensional mathematical model is built by means of MATLAB Toolbox, and the trajectory planning is carried out through quintic polynomial interpolation. Finally, the continuous smooth curves of each joint angular displacement, angular velocity and angular acceleration, as well as the end position and attitude, of the 6-DOF manipulator are obtained, which verifies the rationality and correctness of the establishment of the kinematic model, and provides a certain theoretical basis for the kinematic research of the tandem industrial manipulator.更多还原