汪明恒, 王允昌. 用于机器人逆运动学分析的几何法及应用[J]. 机器人, 1989, 11(3): 41-44.
引用本文: 汪明恒, 王允昌. 用于机器人逆运动学分析的几何法及应用[J]. 机器人, 1989, 11(3): 41-44.
WANG Mingheng, WANG Yunchang. GEOMETRIE METHOD OF ANALYZING INVERSE ROBOTIC LINEMATICS AND APPLICATION[J]. ROBOT, 1989, 11(3): 41-44.
Citation: WANG Mingheng, WANG Yunchang. GEOMETRIE METHOD OF ANALYZING INVERSE ROBOTIC LINEMATICS AND APPLICATION[J]. ROBOT, 1989, 11(3): 41-44.

用于机器人逆运动学分析的几何法及应用

GEOMETRIE METHOD OF ANALYZING INVERSE ROBOTIC LINEMATICS AND APPLICATION

  • 摘要: 本文采用几何法来分析机器人逆运动学问题,将常见的工业机器人机构分为两级来考虑,避免了常用的雅可比逆阵求解机器人逆运动学问题的复杂性.利用文中所述的方法,通过一个喷漆机器人运动学建模说明了采用此方法的优越性.

     

    Abstract: This paper proposes a geometrie approach to inverse robotic kinematics.Two stages of an usual industrial robot are considered.The complexity of the inverse kinematics problems which is obvious in theprocess of being solved by using Jacobian inverse matrix is thus avoided.The advantages of our methodare clarified by an illustrative example of kinematic modelling of a painting robot.

     

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