CAJ | 학술논문

提出了基于轻质无驱动机械臂人工拖动的直接示教方式。根据 DH 变换法建立了示教臂与被示教机器人运动学关系。针对逆运动学多解问题，以位形选择方式，实现示教臂和机器人的位置映射，从而实现了示教臂与机器人的示教再现过程，并说明了有奇异路径的示教方法。对具体任务进行仿真验证了方法的有效性。
제출료기우경질무구동궤계비인공타동적직접시교방식。근거 DH 변환법건립료시교비여피시교궤기인운동학관계。침대역운동학다해문제，이위형선택방식，실현시교비화궤기인적위치영사，종이실현료시교비여궤기인적시교재현과정，병설명료유기이로경적시교방법。대구체임무진행방진험증료방법적유효성。
A teaching method with light mass mechanical arm based on no motor driving and on man hand dragging is proposed.Relationship of the kinematics between the two arms is set up based on D H method.To choose one appropriate solution from multiple solutions of inverse kinematics by choosing configuration number to correspond trajectory is pro-posed,realizing the industrial robot to play the trail. The teach method of singular path is also stated.Sim-ulation for specific tasks is done and the method is shown to be effective.