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对开式链机器人的运动分析问题进行研讨 ,进而采用 IMP机械系统通用分析方法 ,得以完满的解决。引入了“虚拟杆”的概念。在求解过程中 ,给出了迭代的新方法 ,求解了多关节、远距离、不连续运动要求的机器人运动学逆问题的最优解 ,最后 ,通过实例计算 ,给以了验证。
The kinematic analysis of the open chain robot is discussed, and then the general analysis method of IMP mechanical system is adopted to solve the problem satisfactorily. The concept of “virtual rod” was introduced. In the process of solving, a new iterative method is given to solve the optimal solution to the inverse problem of kinematics of a robot required by multi-joints, long-distance and discontinuous movements. Finally, the calculation is given by examples.