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6r关节型机器人运动学建模
5 2 V o.l 5 . 2
2010 4 CAA I T ransactions on Inte lligent System s Apr. 20 10
do:i 10. 3969 .j issn. 167 34785. 2010. 02. 0 10
6R
1 2 1 1 1
王立权 , 刘秉昊 , 吴健荣 , 韩金华 , 卢正宇
( 1. 哈尔滨工程大学 机电工程学院, 黑龙江 哈尔滨 150001; 2. 哈尔滨工程大学 自动化学院, 黑龙江 哈尔滨 15000 1)
: , 6R . ,
, . ,
, . 2, . VC+
+ OpenGL , . , ,
. M OTOM ANU P6 PUM A560 .
: ; ;
: TP241 : A : 20 10)
Modeling and implementing the inverse kinematics of
a six revolute joint robot
1 2 1 1 1
W ANG L iquan , L IU B inghao , W U J ianrong , H an j inhua , LU Zh engyu
( 1. Co llege o f M echan ical and E lectr ica l Eng ineering, H arbin Eng ineering U niversity, H arb in 150001, China)
Abstract: T o prog ram a new m ult irobo t system, inverse k inem a tic equations for a six revo lute jo int ( 6R ) robot
w ere developed. T he ir a lgebra ic so lut ions w ere then derived. Condit ions cau sing there to be no so lution, ex traneou s
roots, orm ultiple so lu tions for inverse k inem atic equat ions w ere studied for equations u sed in the practical contro l of
a system. Com pared w ith traditional m ethods, th ism ethod is m ore su itable for a m ultirobo t system in w hich w ork
ing too ls are frequently replaced. A s on ly tw o inverse m atricesw ere involved, the m ethod w as smi ple and easy. In
order to ver ify the effectiveness of the m ethod, it w as com piled using V C++ and OpenGL softw are. A fter selecting
a spec ific posit ion as an exam ple, w e proved the co rrectness of the a lgorithm by com paring its resu lts to those from
geom etric analysis. The research is app licable to other robot system s w ith smi ilar m echa
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