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本文分析了PUMA机器人位置结构和姿态结构的特点 ,根据末端执行器位置矢量和姿态转换矩阵 ,在考虑臂形标志的基础上建立逆运动学算法 ,在MATLAB5 3上建立仿真实验系统 ,验证该算法的有效性。
In this paper, the position and attitude of PUMA robots are analyzed. According to the end-effector position vector and attitude transition matrix, an inverse kinematics algorithm is established based on arm-shaped markers. A simulation experiment system is established on MATLAB5.3 to verify the algorithm Effectiveness.