第一章机器人运动学(2)

1、iiaiiiiaiaiaiidiidiiiaid1iaiidiiaid1iai1iz1ix1iy1ioizixiyioiaiaiaiaAiAi+1o oi iz zi i- -1 1z zi iAi-1AiAi+1Ai+2li-1oi-1xi-1yi-1zi-1ABCDoi（xi）（yi）zixiyioi+1xi+1yi+1zi+1di+1li+1di关节1关节2关节3关节5关节6连杆1连杆0连杆2连杆5连杆4连杆6关节4连杆3关节1关节2关节3关节5关节6连杆1连杆0连杆2连杆3连杆5连杆4连杆6关节4连 杆adcossin11变量90000122变量0a2d21033变量90a300144

2、变量900d40155变量90000166变量00d610关节1关节2关节3关节5关节6连杆1连杆0连杆2连杆3连杆5连杆4连杆6关节4连 杆adcossin11变量90000122变量0a2 d2 = d2 + d31033变量90a3 d30144变量900d40155变量90000166变量00d61034545,0o o odd重重合合关 节 1关 节 2关 节 3关 节 5关 节 6连 杆 1连 杆 0连 杆 2连 杆 5连 杆 4连 杆 6关 节 4连 杆 3规 定 1 - - - - 关 节 3 零 位或 规 定 2 - - - - 关 节 3 零 位关 节 1关 节 2关 节

3、3关 节 5关 节 6连 杆 1连 杆 0连 杆 2连 杆 5连 杆 4连 杆 6关 节 4连 杆 3连 杆adcossin11变量90000122变量900d2013000d3变量1044变量90000155变量90000166变量00d6 101nnAcossin001001000sincos0001000cossin000000010sincos0000100010001iiiiiiiiiiadcossincossinsincossincoscoscossinsin0sincos0001iiiiiiiiiiiiiiiiiaadcossincossinsin0sincoscoscossin

4、00sincos0001iiiiiiiiiiiiid1sincos0cossincossinsin0sincoscoscossin00sincos1iiiiiiiiiiiiiiiiiiidaaA001112iiiTAAA11111c0s0s0c001000001A222222c0s0s0c00100001dA33100001000010001dA44444c0s0s0c001000001A55555c0s0s0c001000001A66666cs00sc0000100001A0001XXXXYYYYZZZZnoaPnoaPnoaP0001XXXXYYYYZZZZnoaPnoaPnoaP6554

5、4332211060TTTTTTT TTTTTT T 6554433221601 -10）（1 q65544332601 -101 -21TTTTTTT）（）（2q65601 -101 -21132143154TTTT)T()T()T(）（）（5 qE601 -101 -65TT) T( ）（6 q100060pzazsznzpyaysynypxaxsxnxTcs00sc00Rot( , )00100001Z10000cs0Rot(, )0sc00001Xcossin0( , )sincos0001R Z100(, )0cossin0sincosR Xcos0sin( , )010sin0cosR Y100010Trans(,)0010001XYXYZZ1sin