PUMA-A760机器人运动学建模

卜永洪, 王翼. PUMA-A760机器人运动学建模[J]. 机器人, 1987, 9(5): 16-19.

引用本文:

卜永洪, 王翼. PUMA-A760机器人运动学建模[J]. 机器人, 1987, 9(5): 16-19.

BU Yonghong, WANG Yi. Kinematic Modelling for Robot Manipulator PUMA-A760[J]. ROBOT, 1987, 9(5): 16-19.

Citation:

BU Yonghong, WANG Yi. Kinematic Modelling for Robot Manipulator PUMA-A760[J]. ROBOT, 1987, 9(5): 16-19.

Kinematic Modelling for Robot Manipulator PUMA-A760

摘要: 本文提出了采用系统辨识理论估计PUMA-A760机器人连杆参数的具体方法．用其建立了PUMA-A760机器人的运动学模型．仿真和实验系统证明，该模型达到了控制系统设计的要求．

Abstract: A method to estimate the link paramters of robot PUMA-A760 is presented.After obtaining these parameters,we develop the kinematic model of robot PUMA-A760.This model matches very well with the robot manipulators' computer output.It can beused for computer simulation and design of robot control system.

/