CAJ | 학술논문

油茶作为一种绿色植物，其产业在中央、地方的大力支持下得到了较快、长足的发展，但限于目前油茶果采摘机械化程度低，致使人工采摘效率低，严重制约了油茶产业的发展。以机器人坐标系建立最为常用的D-H坐标系法为基础，并对D-H坐标系的建立予以介绍，以自行研制的油茶果采摘机器人为研究对象，建立油茶果采摘机器人正运动学模型，为今后进一步研究实验提供理论依据。
유다작위일충록색식물，기산업재중앙、지방적대력지지하득도료교쾌、장족적발전，단한우목전유다과채적궤계화정도저，치사인공채적효솔저，엄중제약료유다산업적발전。이궤기인좌표계건립최위상용적D-H좌표계법위기출，병대D-H좌표계적건립여이개소，이자행연제적유다과채적궤기인위연구대상，건립유다과채적궤기인정운동학모형，위금후진일보연구실험제공이론의거。
As a green tree , the camellia oleifera whose industry has got rapid and further development with helps from the central and local government .However , it restricts badly the camellia oleifera industry development that mechanization level of the camellia oleifera picked and manual picking efficiency are low .Based on the D-H coordinate system method , which is used widely as the robot coordinate system , I introduce how to build the D-H coordinate system and we take the camellia oleifera picked robot as the research object and establish the forward kinematics models of the camellia oleiferous picked robot for study further in the future .