6650型工业机器人运动学分析

摘要

以6650型六轴工业机器人作为研究目标，利用D-H表示法建立该机器人的连杆模型与连杆坐标系。得到机器人杆件几何参数和关节变量，进而推导出该机器人的运动学方程，并由此计算出机器人的工作空间，为机器人的轨迹规划及运动提供一定的数学基础。%a 6650 type industrial robot is taken as research object to establish a link model and link coordinate system of the robot with D-H transformation matrix. The kinematics equation of the robot is deduced with the robot rod geometric parameters and joint variables obtained from the link model and link coordinate system to calculate the working space of the robot, which provides a mathematical foundation for the trajectory planning and motion of the robot.