基于蒙特卡罗方法的双臂机器人工作空间分析
The workspace of dual-arm robot is the research hotspot and difficulty in robot industry,taking the self-developed dual-arm robot as the research object,the D-H coordinate system is established and the kinematics equation is work out.According to the Monte Carlo method and the extreme value theory,u...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2014-01-01
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| Series: | Jixie chuandong |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2014.06.042 |
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| Summary: | The workspace of dual-arm robot is the research hotspot and difficulty in robot industry,taking the self-developed dual-arm robot as the research object,the D-H coordinate system is established and the kinematics equation is work out.According to the Monte Carlo method and the extreme value theory,using Matlab simulation software,its workspace is solved.The practicability and universality of Monte Carlo method is proved again.It provides a theoretical basis for subsequent robot trajectory planning and control research. |
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| ISSN: | 1004-2539 |