新型可重构机器人逆运动学的研究

提出新的模块建模方法，通过新的建模方法，可快速搭建机器人的运动学模型．将机器人在目标点的工作位形分解成有限个构形平面的方法，通过对分解的平面构形的工作空间描述，进行构形平面间的姿态和位置匹配，从而找到机器人的数值逆解．通过对采用基本模块搭建的八自由度机器人构形的运动学实例仿真，验证了该方法的可行性．

Inverse kinematic research based on a new type of reconfigurable robot

The complicated work configurations of reconfigurable robots make it quite difficult to solve the problem of inverse kinematics, which directly affects the real time control and application of reconfigurable robots. In this paper, a new modular modeling method is proposed, and by using this new method, the kinematical model for a robot can be built immediately. This is a method that decomposes the work configurations of a robot at the target position into finite configuration planes, and by describing the workspace of these configuration planes, the orientations and positions of these planes can be matched to find the numerical solutions to a robot. The applicability of this method is. proved through the kinematical simulation of an eight DOF robot built using elementary modules.