EMMA的运动逆解

李巧敏. EMMA的运动逆解[J]. 机器人, 1991, 13(4): 31-34,59.

引用本文:

李巧敏. EMMA的运动逆解[J]. 机器人, 1991, 13(4): 31-34,59.

LI Qiaomin. INVERSE SOLUTION OF EMMA[J]. ROBOT, 1991, 13(4): 31-34,59.

Citation:

LI Qiaomin. INVERSE SOLUTION OF EMMA[J]. ROBOT, 1991, 13(4): 31-34,59.

INVERSE SOLUTION OF EMMA

摘要: 本文采用几何法和代数法相结合的综合求解方法，通过求解4次方程式求出了EMMA（Engi-neering Model Manipulator Arm）机器人的运动逆解．EMMA有许多优点，它是一种很有前途的机器人．

Abstract: This paper studies the inverse solution of EMMA(Engineering Model Manipulator Arm), a newly developed product by a certain robot company. The inverse solution is obtained by combinativ usage of ge-ometry and algebra and by solving a fourth degree equation. It is shown that this kind of robot will certainly have good prospects.

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