铰接机械手运动和动力参数的转换

变换矩阵用来建立起铰接机械手与传统方法所获得机械手的扭矩，速度，雅各比矩阵及齐次变换矩阵之间的关系。找出在执行机构空间和在关节空间内的扭矩，速度，雅各比齐次变换矩阵之间的关系。一旦得到这一矩阵，用传统公式计算的扭矩及雅各比可变换成铰接机械手的实际扭矩和雅各比。

MAPPING OF KINEMATIC AND DYNAMIC PARAMETERS FOR COUPLED MANIPULATORS

The concept of the mapping matrix is used for establishing relationship of torque,speed, Jacobian and compliance of coupled manipulators with those of manipulators obtained with conventional methods.The relation between torque,speed,Jacobian and compliance in actuator space and the same parameters in joint space is obtained.A method derived based on dynamics for constructing the torque mapping matrix,which is key to all of the relations,is presented.Once this matrix becomes available,torques and Jacobians computed with conventional formulations can be easily transformed into the actual torques and Jacobians of coulped manipulators.