| 基于D-H坐标系的六自由度机械臂运动学建模与分析 |
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| 引用本文：邵福.基于D-H坐标系的六自由度机械臂运动学建模与分析[J].上海第二工业大学(中文版),2025,42(1):45-50 |
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| 中文摘要:机械臂的运动学建模是工业机器人的重要研究内容, 运动学建模结果与工业机器人能否完成指定任务密切相关。以典型的关节型六自由度机械臂为研究对象, 根据D-H 坐标系建立机械臂的正运动学模型, 并利用矩阵元素对应关系求解逆运动学模型的解析解。正逆运动学模型确定的机械臂末端位姿与关节变量间的函数关系可以用于机械臂的工作空间预测、路径规划、运动控制和结构设计等应用中。 |
| 中文关键词:六自由度机械臂 运动学模型 D-H 坐标系 运动控制 |
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| Kinematic Modeling and Analysis for a Six Degree-of-Freedom Robot Arm Based on D-H Coordinates |
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| Abstract:Kinematic modeling of robot arm is a key research topic for the industrial robots. The result of the kinematic modeling is closely related to the fulfillment of the assigned tasks of the industrial robots. Taking a classical joint-configured six degree-of-freedom robot arm as the research object, D-H coordinates are used in the forward kinematic modeling process. The corresponding relationships of the matrix elements is utilized in solving for the analytical solutions of the inverse kinematic model. The forward and inverse kinematic models set up the functional relationship between the position and orientation of the end-effector and the joint variables of the robot arm. This relationship can be furtherly used in the workspace estimation, trajectory planning, motion control, as well as structure design for the robot arms. |
| keywords:six degree-of-freedom robot arm kinematic model D-H coordinates motion control |
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