| RBT-6T/S01S型串联型机器人坐标系的建立 |
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| 引用本文： | 连俊茂,蒋晓刚,叶松.RBT-6T/S01S型串联型机器人坐标系的建立[J].九江职业技术学院学报,2012(4):13-15,25. |
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| 作者姓名： | 连俊茂 蒋晓刚 叶松 |
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| 作者单位： | 九江职业技术学院,江西九江,332007 |
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| 摘 要： | 用四个步骤论述了RBT-6T/S01S型机器人坐标系的建立:通过D-H方法建立RBT-6T/S01S型机器人的笛卡尔坐标系;确立RBT-6T/S01S型机器人各个变量的值;根据RBT-6T/S01S型机器人各个变量的值以及各杆件之间关系,写出相应的矩阵和根据A矩阵和T矩阵之间的关系写出T矩阵。
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| 关 键 词： | 机器人 矩阵 D-H坐标系 |
Establishment of the RBT- 6T/S01S Series Robot Coordinate System |
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| Lian Junmao,Jiang Xiaogang,Ye Song.Establishment of the RBT- 6T/S01S Series Robot Coordinate System[J].Journal of Jiujiang Vocational and Techinical College,2012(4):13-15,25. |
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| Authors: | Lian Junmao Jiang Xiaogang Ye Song |
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| Institution: | (Jiujiang Vocational and Technical College, Jiujiang, JiangXi,332007) |
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| Abstract: | This article analyzes the four steps in the establishment of the RBT - 6T/S01S robot coordinate system： to establlsh the RBT -6T/S01S robot＇s Cartesian coordinate system with the D- H method; to determine the value of each variable on RBT - 6T/S01S robot;as previously determined value of the variable, as well as the rela-tionship between the linkage components, to write the corresponding i- 1Ai matrix; to write the T matrix according to between A matrix and the T matrix＇s relations. |
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| Keywords: | robot matrix D- H coordinate system |
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