四足机器人运动学分析与仿真

Proceedings of 2011 International Conference on Fluid Power and Mechatronics Pub Date : 2011-10-17 DOI:10.1109/FPM.2011.6045874

Ni Meng, W. Xiaodong

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引用次数: 9

摘要

本文首先介绍了四足机器人坐标系连杆的形成;从而计算出各坐标系连杆的齐次变换矩阵。然后，建立了四足机器人的正运动学和逆运动学方程。最后，利用SolidWorks Motion对机器人三维模型的运动学特性进行了仿真分析。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Kinematics analysis and simulation of quadruped robot

This paper firstly introduces the formation of coordinate system linkage of quadruped robot; consequently, the homogeneous transformation matrix of every coordinate system linkage is computed. Then, the forward and inverse kinematics equations of quadruped robot are formulated. Finally, using SolidWorks Motion to simulate and analysis the kinematics characteristics of 3-D model of robot.

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Proceedings of 2011 International Conference on Fluid Power and Mechatronics

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