KUKA Spatial KinematicsKUKA 空间运动学

To make a robot arm put its tool exactly where you want it in space, you need its kinematics: the map between joint angles and where the end-effector actually ends up.要让机械臂把工具精确送到空间中你想要的位置,需要它的运动学:关节角与末端执行器实际落点之间的映射。

01DH modelDH 模型

I set up a Denavit–Hartenberg model of the arm — a coordinate frame on each joint and the four DH parameters that relate consecutive frames — and derived the forward kinematics giving the end-effector pose from any set of joint angles.我建立了机械臂的 Denavit–Hartenberg 模型——每个关节一个坐标系,以及关联相邻坐标系的四个 DH 参数——并推导出由任意关节角给出末端位姿的正运动学。

02Trajectory & verification轨迹与验证

With the model in place, I worked through spatial trajectories — the path the arm sweeps to move its tool between poses — checking reach and smoothness in simulation before running the planned motion on the physical KUKA arm. Simulated and measured motion agreed, closing the loop between the kinematic model and real hardware.模型就位后,我推导空间轨迹——机械臂在位姿间移动工具所扫过的路径——先在仿真里检查可达性与平滑性,再在实体 KUKA 机械臂上执行规划运动。仿真与实测运动一致,在运动学模型与真实硬件之间闭环。