基于MATLAB的机器人逆运动学研究

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基于MATLAB的机器人逆运动学研究 主要讲述逆运动学的知识
826 佳木斯大学学报(自然科学版) 2010年 Rob otics too box Smulink lam bda 14 MATLA B Q1 机器人末端方向A 关节1角度 [B]> Q2 机器人末端方向B 关节2角度 机器人末端方向及位栘 03 机器人末端方向C MATLAB MATLAB 关节3角度 Function Function 04 机器人末端位移X 机器人末端齐次转换矩阵机器人逆运动学算法 关节4角度 O5 杌器人末端位移Y 关节5角度 机器人末端位移Z 关节6角度 2 Robotics too lbox lan bda 01 KUKA KR 360/ KUKA KR360/ MATLAB RObotics 4X4 Simulink joint fron model 20 joint fron kuka KUKA KR360/1 6 -100 848 160 1015 30 3 o1994-2011ChinaAcademicJournalElectronicPublishingHouse.Allrightsreservedhttp://www.cnki.net 848 佳木斯大学学报(自然科学版) 2010年 HRB500 B B 2004 B HRB500 GB50010 2004 194,(4):72-79 4) JrG D62 acl318 2000 EN1992-1-1 SL/T191 15」GB5015292 6]GB50010-2002 Mer Mk,e bhy/12 a P [71 Buikl ng Code R equ irem en ts br S truc h ral C on cre te(aC B18M 02) and Com en tary (aCI318RM 02)sJ Am erlcan Cor A Research on Stitiness of ConcreteM embers reinforced by High Strength Rebars AOUJian-mi, DONG Li Deparm ent of a rchitec tura l Engineering TongjiUniversity Shangh ai 200092, China Abstract W ith the use of h igh strength reinforcement it seems more m po rtant to conti I and calcu late the de b m ation of renforcem ent beams 28 RC beams w it 500MP a stee l were tested and ana by zed n order to study the ir deform ation properties The resu Its show ed that the stiffness fomu la of curren t nat inal stan dard gB 50010-2002 and fom u la proposed by au horwere in good agreem en tw ith the experi en tal data and applicab le to the deform calcu lat in of beam s w ith h gh stress rebars based on the experim entaldata same dam estic stand- and stiffess calcu laton m ethods w ere cam pared each o ther the m ain factors that affect stiffess w ere analyzed and the proposal of firther simplify Stiffness fomu law as given Key words 500M Pa stee! short-tem st iffness m i-span de flection 826) Con Lol[M ]. Can bridge M IT Press 1981 [1] H Meer R. Lau richkat C. Bertsch S Reese Pred ict in of 1 4 PauIR P, Sh mn ao B, M averE G. D ifferen talK inem atic Cor Path dev iation in robotb ased inc rem en al sheelm etal fom ing trol Equations fr S imp le M an ipu bbr J]. IEEE T ran sactions by M eans of an Intergrm ted Fin ie E km en t-M ulti Body System System s M an and Cyb emet is June 1981 Vol MMC-1I Model[ J]. K ey Eng in ering M aterial 2009 Vols 410-411 NO.61 pp365-372 [5] PauIR P, Zhang H. Inverse K inem at ies for a PUMA 560 Based 2] H M eier B Buff R. Laurischkat V. Sm uk a a Inc reasing the on the e qu at ions[ J. The In temat ional Jou mal ofRobot ics R e Part a ccuracy in D ie less Robot B ased Inc rem en taI Sheet M etal search Summer 1986. V ob 5 No 2 pp32-44 Sm ing J CRP Annab-M anu fac turing T echnolog 2009, [6] Corke P I A Robotics Toolbox br M at hb[J]. EEE Rob ot ics Vols58pp233-238 and A u tom at in M agazine 19963(1): 24-32 [3] Paul R P. Robot an ipu btor M athem atics Programm ngs and [7] KUKA Robot G roup. KUKA KR360/1 Param eter The Inverse k inem a tics So u tion of Industrialrobot U sing M atlab KANG Jia-ril FAN iL in Raman laurischkat (l Chinese- G enm any College Tongji Univ ersits Shangha i 200092 Chinas 2. R uhr University Bochum, Bochum, Gem an Abstract With the help of m atlab robo tics Too box an inverse k nem atics m odel was built for KUKa KR 360/1 robot and cam pared he result ofm odel with he da te from kuKA robot to validate the m atlab m odel And the inverse k nem atics funct in of robo tics Too box w asm odified n order to get a reasonab le result Key word s robot nverse k iem atiG KUKA KR36071Mathb robo tics Too box iterative algorithm; factor lam bda o1994-2011ChinaAcademicJournalElectronicPublishingHouse.Allrightsreservedhttp:/www.cnki.net

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