以三自由度RPR型"柱坐标"机器人为研究对象,用D-H参数来描述该机器人的运动学问题,利用MATLAB的机器人学工具箱Robotics toolbox对机器人进行转换矩阵求解.采用随机抽样生成关节参数的蒙特卡洛法对机器人的工作空间进行求解.结果证明,机器人工作空间合理,生成的数据为后面控制系统设计,轨迹规划,动力学分析,误差标定等的研究提供了重要的分析依据.%A three-degree-of-freedom RPR type"cylindrical coordinate"robot is used as the research object. The kinematics problem of the robot is described by D-H parameter. The robot matrix is solved by using Robotics toolbox of MATLAB. The Monte-Carlo method is used to solve the working space of the robot by randomly sampling the joint parameters.The results show that the working space of the robot is reasonable, and the generated data provide important analytical basis for the research of the following control system design, trajectory planning,dynamic analysis and error calibration.
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