CAJ | 학술논문

以IRB2400工业机器人为研究对象，对其机构和连杆参数进行分析，采用D-H法对机器人进行正运动学和逆运动学分析，建立运动学方程。在MATLAB环境下，运用Robotics Toolbox工具箱进行建模仿真，仿真结果证明了所建立的运动学正、逆解模型的合理性和正确性。
이IRB2400공업궤기인위연구대상，대기궤구화련간삼수진행분석，채용D-H법대궤기인진행정운동학화역운동학분석，건립운동학방정。재MATLAB배경하，운용Robotics Toolbox공구상진행건모방진，방진결과증명료소건립적운동학정、역해모형적합이성화정학성。
Taking IRB2400 industrial robot as example,structure and link parameters were analyzed. The D-H parameter method was applied in the analysis of forward kinematics and inverse kinematics and kinematical equations were established. In MATLAB envi-ronment,the Robotics Toolbox was used for modeling and simulation. The simulation results prove that the established models of the solutions of forward and inverse kinematics are reasonable and correct.