冯乔生, 刘丹非. 一种新的符号求解机器人逆运动学的分离变量法[J]. 机器人, 1997, 19(2): 143-146,150.
引用本文: 冯乔生, 刘丹非. 一种新的符号求解机器人逆运动学的分离变量法[J]. 机器人, 1997, 19(2): 143-146,150.
FENG Qiaosheng, LUI Danfei. A NEW DECOUPLING METHOD FOR SYMBOLIC SOLUTION OF THE INVERSE KINEMATICS OF ROBOTS[J]. ROBOT, 1997, 19(2): 143-146,150.
Citation: FENG Qiaosheng, LUI Danfei. A NEW DECOUPLING METHOD FOR SYMBOLIC SOLUTION OF THE INVERSE KINEMATICS OF ROBOTS[J]. ROBOT, 1997, 19(2): 143-146,150.

一种新的符号求解机器人逆运动学的分离变量法

A NEW DECOUPLING METHOD FOR SYMBOLIC SOLUTION OF THE INVERSE KINEMATICS OF ROBOTS

  • 摘要: 计算机符号求解机器人逆运动学的关键在于递推地分离出可解析求解形如asin(x)+bcos(x)=cax=b的简单三角/代数方程.基于PAUL的思想,本文提出一种新的分离变量法,在PAUL分离变量法失败的情况下,它能从位置方程组中递推地分离出可解析求解的简单三角/代数方程.该方法是PAUL方法的又一补充

     

    Abstract: The key for symbolically solving the inverse kinematics of robots with a computer is whether the analyticall solution with simple equations in the form asin(x)+bcos(x)=c or ax=b are recursively decoupled. Based upon Pauls ideas, this paper proposes a new decoupling method that can recursively decouple the position equations to obtain the simple and analyticall solvable equations when Pauls method fails. This method is a supplement of Paul method.

     

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