为研究KUKA机器人的运动情况,讨论了机器人的运动学问题,建立了KUKA KR6机器人坐标系.采用改进的D-H法,确定机器人的连杆运动参数,对机器人的正、逆运动学问题进行分析.利用MATLAB的Robotics Toolbox 模块建立机器人模型,完成了KUKA KR6机器人的运动学仿真.通过对空间轨迹仿真,分析了机器人运动过程中的关节稳定性,如位移、速度、加速度变化等.KUKA KR6机器人的运动学分析与仿真,为机器人焊接系统的马鞍形焊缝焊接提供了理论基础.%To study the movement of KUKA robot,the kinematics of robot is discussed. Based on the establishment of thecoordinate system of KUKA KR6 robot,the improved D - H method is used to determinate the motion parameters of linkage ofrobot,and the positive and negative kinematics issues of the robot are analyzed. The robot model is established by using RoboticsToolbox module of MATLAB,and the kinematics simulation of KUKA KR6 robot is completed. Through the simulation of spacetrajectory,the joint stability,the variations of displacement,velocity and acceleration of the robot are analyzed. The kinematicsanalysis and simulation for KUKA KR6 robot provide theoretical basis for the saddle - shape welds welding system of the robots.
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