- 1 - PUMA 机器人大作业 1 坐标系建立: 坐标系可以简化为: - 2 - 2 D-H 参数表: PUMA 机器人的杆件参数: 1d0.6604m,2d0.14909m,4d0.43307m,6d0.05625m,2a0.4318m,3a0.02032m 关节i i i 1ia id 运动范围 1 90 0 0 0 -160o~160o 2 0 -90 0 2d0.14909m -225o~45o 3 -90 0 2a0.4318m 0 -45o ~225o 4 0 -90 3a0.02032m 4d0.43307m -110 o ~170 o 5 0 90 0 0 -100 o ~100 o 6 0 -90 0 6d0.05625m -266 o ~266 o 3 正运动学推导 由式111111111100001iiiiiiiiiiiiiiiiiiicsas cc csd sTssc scd c 可得: 111101000000100001csscT ,222122200001000001csdTsc ,332332300000100001csascT 443434440001000001csadTsc ,554555000010000001csTsc ,665666000010000001csTsc - 3 - 00123456123456TT T T T T T 机械手变换矩阵 060001xxxxyyyyzzzznoapnoapTnoap 236 54 16 4 123 6 5 16 5 4 164 1236 54 16 4 123 6 5 16 5 4 164 1236 546 423 6 5()()()xyzncc c c cs s cs c s cc c s ss c sncc c c ss s ss c s sc c s cs c cnsc c cs sc c s 236 54 16 4 123 6 5 16 5 4 164 1236 54 16 4 123 6 5 16 4 5 164 1236 546 423 6 5()()()xyzocs c c cc s cs s s cs c s sc c socs c c sc s ss s s ss s c cc c coss c cs sc c s 23 54 123 5 15 4 123 54 123 5 15 4 123 523 54xyzac s c cs c cs s sac s c ss c ss s cac cs s c 3 23 122 14 23 12 13 23 122 14 23 12 14233 232 2xyzpa c ca c cd s cd spa c sa c sd s sd cpd ca sa s 4 逆运动学推导 1 .求1...