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《Journal of Harbin Institute of Technology》 2001-01
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A basic coordinate transform based method for establishment of kinematics equations

YAN Guo rong, GAO Xue shan, MU Yong (Robot Research Institute, Harbin Institute of Technology, Harbin 150001, China)  
Presents the new method based upon coordinate system transform, which overcomes the drawback of a conventional robot kinematics analysis——D-H method in establishing a proper coordinate system and the establishment and verification of for a robot kinematics tracking accuracy tester as a new way for robot kinematics research.
【Fund】: 国家高技术研究发展计划资助项目! (863 -9940 90 -175)
【CateGory Index】: TH112
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