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目前,机器人运动学的理论研究已基本成熟,但机器人动力学,还有问题需进一步的探讨,如计算量较大,计算速度不能满足实时控制的要求.本文结合西德产KUKA IR662/100型工业机器人,系统地分析了它的传动机构、平衡机构、工作空间;给出了用中间坐标系进行快速坐
At present, the theoretical research on robot kinematics has been basically completed, but the robot dynamics and other problems need to be further explored, such as the large amount of computation, the computational speed can not meet the requirements of real-time control.This paper combines West Germany KUKA IR662 / 100 Industrial robot, it systematically analyzed its transmission mechanism, balance mechanism, work space; given the use of the middle coordinate system for quick to sit