The study was carried out in new stereo vertical (SV) type 6R wrist spraying robot of inverse kinematics algorithm by using separate constant and inverse matrix solution method. The accurate numerical analysis solution was worked out. The 16 groups of inverse solutions were gotten with an end matrix. Based on the QT platform, combining with the QML key technology and CS design patterns, a set of spraying robot offline programming simulation system was designed to verify the algorithm through the implement of trajectory accurately control. Result shows that the solution of algorithm is correct with high precision.
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王晓琪,孙恺. SV型手腕6R喷涂机器人运动学算法研究[J].机床与液压,2017,45(3):67-72. . Study in Kinematics Algorithms of SV Type 6R Wrist Spraying Robot[J]. Machine Tool & Hydraulics,2017,45(3):67-72