一、RRRRR机器人的间接位置问题RRRRR机器人间接位置问题的图解法已知空间某一工作点J(x_j,y_j,z_j)和相应的手部姿态(i_x,i_y,i_z),要求确定各转动付的转角Q_1、Q_2、Q_3、Q_4和Q_5。对间接位置的求解,要分析变量之间的关系,找出规律以求其解。通过画法几何图解其系分析知,Q_2,Q_3和Q_4之间相互影响,此三值分配要得当。再比较它们各自变化范围,又得知Q_2要求较严,故应单提取Q_2加以初选控制。为此,就先对Q_2设置初值,并给以增量,然后利用计算机程序中的循环语句对Q_2的最后给定值进行选择。选择原则就是满足设备功 I. Indirect Position Problem of RRRRR Robot Graphical Method of Indirect Position Problem of RRRRR Robot Some working point J (x_j, y_j, z_j) and corresponding hand gesture (i_x, i_y, i_z) The corners Q_1, Q_2, Q_3, Q_4 and Q_5. To solve the indirect position, we should analyze the relationship between variables and find the law to find the solution. Through the geometric analysis of the painting geometry analysis, Q_2, Q_3 and Q_4 mutual influence, the three-value distribution to be properly. Then compare their respective range of change, and learned that the Q_2 requirements more stringent, it should be extracted Q_2 to primary control. To do this, set the initial value of Q_2 first, and then increment it. Then use the loop statement in the computer program to select the final given value of Q_2. Selection principle is to meet the equipment work