五自由度采摘机械臂运动学通用算法应用

摘要

通过建立通用采摘机械臂运动学模型,构造初始矢量方程,完成求解,验证了基于Groebner基法的运动学算法的可行性,为采摘机械臂结构设计与控制研究提供了参考数据.%Through establishing the general kinematics module of the 5DOF picking robot manipulator, vector equation is established and'can be solved by separating the Groebner Basis of the equation. This has proved the feasibility of the algorithm, which provides reference data for the research of picking robot manipulator' s structuring and controlling.