| 一种求解机器人运动学逆问题的有效方法 |
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| 引用本文： | 史胜利,刘乃钊,陆钟吕.一种求解机器人运动学逆问题的有效方法[J].哈尔滨工程大学学报,1994(3). |
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| 作者姓名： | 史胜利 刘乃钊 陆钟吕 |
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| 摘 要： | 应用螺旋系统，指出了螺旋与空间向量对应的关系，通过正交化螺旋解决了机器人运动学逆解（逆雅克比矩阵）问题，并给出了通用算法．此外，文章对自由度小于６的机械手也进行了讨论
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| 关 键 词： | 机器人 机械手 运动学 雅克比矩阵 螺旋 |
An Efficient Solution of the Inverse Kinematic Problem for Robot Manipulator |
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| Shi Shengli,Liu Naizhao,Lu Zhonglu.An Efficient Solution of the Inverse Kinematic Problem for Robot Manipulator[J].Journal of Harbin Engineering University,1994(3). |
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| Authors: | Shi Shengli Liu Naizhao Lu Zhonglu |
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| Affiliation: | Dept of Mechanical Eng. |
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| Abstract: | he paper presents the correspondence between screws and space vectors with the application of screw systems. By the orthogonalization of screws, the inverse kinematics (inverse Jacobian) problem is solved, and a general algorithm is given. Further, robotmanipulators with less than six DOFs are discussed here. |
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| Keywords: | robot manipulator kinematic Jacobian screw |
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