操作机分析的微分算子矩阵法

THE DERIVATlVE OPERATOR MATRIX METHOD FOR ANALYSES OF MANIPULATORS

  • 摘要: 本文用微分算子矩阵法对操作机的位姿和误差进行了分析,得到了确定机械手位姿、速度、加速度和误差的正解和逆解的矩阵表达式,并以实例验证了公式的正确性.该法的特点是:公式的规律性强,便于计算机自动推导和数值计算.

     

    Abstract: In this paper,the pose and error analyses of manipulators have been made and the matrix formulae for determining pose,velocity,acceleration and error of manipulators in forward,and,inverse problems have been derived by making use of the derivative operator matrix method.The correctness of these formulae has been verified with an example. The method suggested by author is characterized by powerful regularity of the formulae and easiness of the automatic derivation and the numerical computation.

     

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