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本文讨论了工业机器人三维仿真系统的运动学建模问题,给出了运动学正解和运动学反解的算法,并运用于仿真系统中,证明了算法的可行性。
In this paper, the kinematics modeling problem of 3D robot simulation system is discussed. The algorithm of positive kinematics and kinematic inverse is given and applied to the simulation system. The feasibility of the algorithm is proved.