中文摘要：

在D-H坐标系下建立了6R型喷涂机器人的运动学模型,采用了臂、腕分离法求出了该机器人的正逆运动学的解析表达式。然后用RoboticsToolbox对该机器人的逆运动学、工作空间进行了仿真,不仅证明了运动学正、逆解的正确性,还得出了机器人的工作空间。此方法避免了大量的矩阵求逆运算,简化了计算的表达式,便于控制系统进行实时控制,也为后续的动力学分析、工作空间优化、轨迹控制及结构设计优化奠定了基础。

英文摘要：

Using the D-H method to build the Kinematics Model of the 6-Rotation joint spraying robot,and the Arm and Wrist Separation Method is adopted to obtain the analytic solutions of the forward and inverse kinematics of the spraying robot.Then the inverse kinematics and workspace are simulated with the Robotics Toolbox.The simulation not only proved the correctness of the forward and inverse kinematics algorithm but also obtained the workspace of the spraying robot.Using this method can avoid numerous Matrix inverse operation and simplify calculated expressions,which simplified the control systems frame for carrying out real-time control and also built the foundation for the robot dynamics analysis,workspace optimization,trajectory control and structure optimal design.