| 关于工业机器人运动学中建立坐标转换矩阵的讨论 |
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| 引用本文： | 王爱东,乔兰柱.关于工业机器人运动学中建立坐标转换矩阵的讨论[J].河北工业科技,2002,19(4):16-18. |
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| 作者姓名： | 王爱东 乔兰柱 |
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| 作者单位： | 1. 河北省人民医院基建房管科,河北石家庄,050051
2. 河北广播电视大学理工部,河北石家庄,050071 |
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| 摘 要： | 工业机器人的各种执行机构通常都属于空间机构 ,在进行工业机器人设计时 ,首先要建立工业机器人中各执行部件与手部在空间的相对位置关系。分析空间机构的相对位置关系 ,就是研究运动机构在空间坐标系中的旋转和平移 ,建立工业机器人执行机构在空间的相对位置关系的数据模型。文中介绍了工业机器人中各机构空间坐标系的形式、建立和转换 ,并对转换矩阵的建立与分析进行了初步探讨。
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| 关 键 词： | 工业机器人运动学 坐标系 矩阵 矢量 |
| 文章编号： | 1008-1534(2002)04-0016-03 |
| 修稿时间： | 2002年1月22日 |
Discussion on Establishing the Transition from Reference Frame to Matrix in the Kinematics of Robot |
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| WANG Ai dong ,QIAO Lan zhu.Discussion on Establishing the Transition from Reference Frame to Matrix in the Kinematics of Robot[J].Hebei Journal of Industrial Science & Technology,2002,19(4):16-18. |
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| Authors: | WANG Ai dong QIAO Lan zhu |
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| Institution: | WANG Ai dong 1,QIAO Lan zhu 2 |
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| Abstract: | All kinds of executive mechanism of industrial robots usually belong to space mechanism.First,we should set up the relative place relationship in space between all executive components and hands of industrial robots when designing industrial robots.Analyzing the relative place relationship of space mechanism involves studying gyration and translation of mechanism of movement in space coordinate system,and establishing mathematical models of relationship of executive mechanism of industrial robots in space.This paper introduces the form,establishment and transformation of space coordinate system of all mechanisms in industrial robots,and makes a initial inquiry into the establishment and analysis of translating matrix. |
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| Keywords: | industrial robot kinematics refrence matrix vector |
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