| MOTOMAN机械手逆运动方程新的推导方法及求解 |
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| 引用本文： | 王雪松,许世范,郝继飞.MOTOMAN机械手逆运动方程新的推导方法及求解[J].中国矿业大学学报,2001,30(1):73-76. |
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| 作者姓名： | 王雪松 许世范 郝继飞 |
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| 作者单位： | 中国矿业大学 信息与电气工程学院, |
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| 基金项目： | 国家863资助项目(9823-01-01) |
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| 摘 要： | 提出了一种新的推导MOTOMAN型机器人逆运动学方程的方法，进而给出逆运动问题新的求解方法。此方法不需要对机械手末端位净进行坐标变换，另外在解的扒导过程中避免了大量的逆矩阵相乘，方法简单，便于工业控制和仿真，仿真证明了计算结果的正确。
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| 关 键 词： | MOTOMAN机械手 机器人逆运动学 数学模型 逆运动方程 |
| 文章编号： | 1000-1964(2001)01-0073-04 |
| 修稿时间： | 2000年6月20日 |
New Inferential Method and
Efficient
Solutionsfor Inverse Kinematics Equations of Robot MOTOMAN |
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| WANG Xue-song,XU Shi-fan,HAO Ji-fei.New Inferential Method and
Efficient
Solutionsfor Inverse Kinematics Equations of Robot MOTOMAN[J].Journal of China University of Mining & Technology,2001,30(1):73-76. |
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| Authors: | WANG Xue-song XU Shi-fan HAO Ji-fei |
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| Abstract: | A new inferential method for inverse kinematics equation of MOTOMAN manipulators was presented, and efficient solutions of inverse kinematics problem were given. The method needn't change the coordinates of the manipulator end effector, and analytic solutions of the problem can be obtained. Additionally, a lot of multiplications of inverse matrices are avoided in the course of deduction. This method is very simple and useful, so it is suitable for control and simulation. Simulation verifies the correctness of computation. |
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| Keywords: | robot MOTOMAN robot inverse kinematics analytic solutions |
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