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分析了挖掘机的结构特点 ,应用D H变换矩阵法建立运动学模型 ,推导出逆运动学算法 ,介绍在MATLAB5 3上建立仿真实验系统 ,以验证该算法的有效性。
The structural features of the excavator are analyzed. The kinematics model is established using the D H transformation matrix method and the inverse kinematics algorithm is deduced. The simulation experiment system is established on MATLAB 53 to verify the effectiveness of the algorithm.