ChinaUniversity of Chinese Academy of Sciences, Beijing 100049, China;Shenyang Institute of Computing Technology, University of Chinese Academy of Sciences, Shenyang 100171, China 在期刊界中查找 在百度中查找 在本站中查找
Shenyang Institute of Computing Technology, University of Chinese Academy of Sciences, Shenyang 100171, China;University of Chinese Academy of Sciences, Shenyang 100171, China 在期刊界中查找 在百度中查找 在本站中查找
Shenyang Institute of Computing Technology, University of Chinese Academy of Sciences, Shenyang 100171, China;University of Chinese Academy of Sciences, Shenyang 100171, China 在期刊界中查找 在百度中查找 在本站中查找
Generalized D-H method has been widely researched and applied in robot kinematics modeling, but there is a fundamental flaw, which is that the homogeneous transformation matrix obtained by generalized D-H method is a singular matrix, so the model we get is also incorrect, and we cannot analyze correctly. The modified D-H method is improved to avoid the defects of generalized D-H, and to ensure the accuracy of the models. In this paper, the general kinematic modeling method and the application of the D-H method and its' defects and the modified D-H method are studied. At last, the correctness of kinematic model established by the modified D-H method in 6-DOF robot is verified.