【摘要】 运用计算机对 6R机器人工作空间进行辅助确定 ,大大简化了原有作图法求解的繁杂 ,并通过计算机使传统解析法的结果变为更加直观 ,同时运用该程序可以求解在某些关节约束确定情况下机器人的工作范围 ,求解在机器人工作角度确定的情况下机器人可达域范围 ,以及机器人手部在空间某一点位或面域时其各个关节的角度 .为更好地开发应用机器人提供了一种新方法更多还原

【Abstract】 A new method that the working space of 6R robot is easily determined by the computer is introduced. The geometric figure of the working space that is very difficult to draw by the graphic method can be obtained. And its result of the new method is more directly perceivable than the result of analytic geometry, especially when the robot links or postures are bound.更多还原