基于MATLAB的PUMA机器人运动学仿真-昆明理工大学学报.PDFVIP

28 6 ( ) Vol. 28 No16 2003 12 Journal of Kunming University of Science and echnology (Science and echnology) Dec. 2003 MATLAB PUMA 干敏耀, 马骏骑, 陈永星, 范启印 ( , 650093) : ,. PUMA , D- H ,MA LAB , ,, . : ;;;MA LAB : P24212 :A : 1007- 855X(2003)06- 0050- 04 Kinematics Analysis and Simulation of PUMA Robot Based on MATLAB GAN Min2ya o , MA J un2qi, CHEN Yon g2xing , FAN Qi2yin (Faculty of Mechanical and Electrical Engineering, KunmingUniversity of Science and echnology, Kunming 650093, China) Abstract: Kinematics of robot is an important branch of Robotics and the basis to fulfil kinematical control of robots. An emphasis is placed on the analysis of direct kinematics of PUMA robot. s manipulator. A simple simu2 lation based on D- H coordination system and modeling is performed by thetools ofMA LAB software. It is also helpful to deeply understand the moving angles of joints and provides an effective analytic method for engineers. Key wor ds: robot; kinematics; simulation; MA LAB 0 21, , . , . ,. , . , ., . MA LAB MathWorks 1984 , [ 1] , . MA LAB PUMA , . 1 1. 1 , , ; , . , . [2] : 2003- 08- 29. : (1978~ ), ,. : . E- mail: g- minyao@163. com 6 , ,: MA LAB PUMA 51 1. D- H ( ). ., 0, 1, , , 1 1 , . i ( 1), , , (i - 1 i ) d .H i i . ,Denavit Harten2 berg 1995 , D- H 4@4 (A ) . D- H 4 . 4 .1 : Hi : Zi- 1 ( ) Xi- 1 Xi ; di : ( i - 1) Zi- 1 Xi Zi- 1 ; a i : Zi- 1 Xi i Xi ( Z Z ) ; A : X ( ) Z Z