摘要
针对实验室自主设计的六自由度机械臂使用改进DH参数建立空间坐标系,推导正逆运动学公式,通过Matlab与ROS的姿态和位置控制对比实验,验证DH参数和正逆运动学公式的正确性,并在Matlab中通过蒙特卡洛方法推算机械臂活动空间。
The improved DH parameters are used to establish the spatial coordinate system for the six degree of freedom manipulator independently designed in the laboratory,and the forward and inverse kinematics formulas are derived.The correctness of the DH parameters and the forward and inverse kinematics formulas is verified through the attitude and position control comparison experiments between Matlab and ROS,and the manipulator activity space is calculated through the Monte Carlo method in Matlab.
出处
《工业控制计算机》
2025年第12期62-64,共3页
Industrial Control Computer
