CAJ | 학술논문

用四个步骤论述了RBT-6T／S01S型机器人坐标系的建立：通过D—H方法建立RBT-6T／S01S型机器人的笛卡尔坐标系；确立RBT-6T／S01S型机器人各个变量的值；根据RBT-6T／S01S型机器人各个变量的值以及各杆件之间关系，写出相应的矩阵和根据A矩阵和T矩阵之间的关系写出T矩阵。
용사개보취논술료RBT-6T／S01S형궤기인좌표계적건립：통과D—H방법건립RBT-6T／S01S형궤기인적적잡이좌표계；학립RBT-6T／S01S형궤기인각개변량적치；근거RBT-6T／S01S형궤기인각개변량적치이급각간건지간관계，사출상응적구진화근거A구진화T구진지간적관계사출T구진。
This article analyzes the four steps in the establishment of the RBT - 6T/S01S robot coordinate system: to establlsh the RBT -6T/S01S robot's Cartesian coordinate system with the D- H method; to determine the value of each variable on RBT - 6T/S01S robot;as previously determined value of the variable, as well as the rela-tionship between the linkage components, to write the corresponding i- 1Ai matrix; to write the T matrix according to between A matrix and the T matrix's relations.