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pu tao tao dai ji qi ren ji xie bi yun dong xue fen xi yu gui ji gui hua fang zhen
Author(s): 
Pages: 34-38
Year: Issue:  6
Journal: Robot Technique and Application

Keyword:  机器人D-H法则运动学轨迹规划仿真;
Abstract: 本文针对葡萄套袋机器人机械臂,建立基于Denavit-Hartenberg法则的运动学模型,对机械臂的正运动学与逆运动学进行求解与分析,利用MATLAB Robotics Toolbox对其结果进行仿真,验证了模型的正确性.利用Robotics Toolbox对机械臂进行了在关节空间的轨迹规划仿真分析,为葡萄套袋机器人机械臂的控制研究提供了基础.
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