inversekinematicsanalysistrajectoryplanningforarobotarm[逆運動學(xué)分析軌跡規(guī)劃fora機器人手臂](ppt-31)-資料下載頁
2025-01-12 08:18本頁面
【正文】 ain the solutions of and . ? It is obvious that there are two groups of results to guarantee a small variable, we should choose one group according to “the shortest route”. 25 SIMULATION RESULTS 26 Figure 5. Initialized position of endeffector. 27 Figure 6. Moved position of endeffector. ? In experiments, we used the cine camera that fixed on robot to confirm the goal position of object as the vision orientation method. ? Then, robot picked up the goal object through the robot arm. 28 29 CONCLUSION ? In this paper, the kinematics of the sixdegreeoffreedom robot arm of humanoid robot was analyzed. ? The proposed method can obtain the kinematics equation at the same time with the geometric structure and the homogeneous transformation matrix to control the robot arm. 30 ? Finally, the paper presents the robot arm successfully pickups the goal (a bottle) utilizing Matlab Software to imitate the kinematics data and actual experiments. ? The experimental result verifies the validity of the kinematics equation. ? Next work, the robot arm system will apply to the order meal service robot, can be used for guest to receive, wait, order, check out, see a visitor out,? and so on in every restaurants or hotels in the early future. 31
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