六自由度机械下臂的逆运动学求解与轨迹规划研究-软件工程专业毕业论文.docxVIP

广东工业大学项士学位论文 AB STRACT So far,the mechanical arl／l as hi【曲est degree technology products of AI has been involved in manufacturing，health care，a酣culture，e．g．And manipulator kinematics analysis and trajectory planning has been one of the hotspot in researchers．This paper has took the GSK company’S six degrees of freedom Manipulator industry as．the research object,and has established the D-H model which is based on the structure parameters，analyzed the positive and inverse kinematics，and solved the inverse kinematics of Manipulator by using the PSO neural network algorithm．And on the basis of th