陈国锋, 傅祥志, 廖道训. 机器人DKP符号模型的计算机自动生成软件系统[J]. 机器人, 1993, 15(5): 13-19.
引用本文: 陈国锋, 傅祥志, 廖道训. 机器人DKP符号模型的计算机自动生成软件系统[J]. 机器人, 1993, 15(5): 13-19.
CHEN Guofeng, FU Xiangzhi, LIAO Daoxun. COMPUTE-AUTOMATED GENERATION OF MANIPULATOR SYMBOLIC MODELS ON DKP & JACOBIAN[J]. ROBOT, 1993, 15(5): 13-19.
Citation: CHEN Guofeng, FU Xiangzhi, LIAO Daoxun. COMPUTE-AUTOMATED GENERATION OF MANIPULATOR SYMBOLIC MODELS ON DKP & JACOBIAN[J]. ROBOT, 1993, 15(5): 13-19.

机器人DKP符号模型的计算机自动生成软件系统

COMPUTE-AUTOMATED GENERATION OF MANIPULATOR SYMBOLIC MODELS ON DKP & JACOBIAN

  • 摘要: 本文系统地分析了系列D-H矩阵相乘运算过程中三角化简等化简运算的存在性及其运算化简规律.基于这些运算化简规律,以及系列D-H矩阵之间的递推关系,用C语言在微机上编制了操作手运动学正问题(DKP)及雅可比矩阵求解的符号模型自动生成软件.

     

    Abstract: Computer-aided generation of manipulator kinematic models in symbolic form is studied in this paper.First,the recursive symbolic relations of D-H matrlces are derived.Then,a series of algebraic and trigono-metric simpfications for successive mulitiplications of D-H matrices are systematically analyzed.Finally,wepresent a method for computer-aided generation of symbolic models on DKP & Jacobian matrix.At the end ofthis paper four illustrative examples are given.

     

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