| 遥操作从手仿真系统运动学逆解算 |
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| 引用本文： | 叶志祥,冀春荣,宁祎.遥操作从手仿真系统运动学逆解算[J].西安工业学院学报,1999,19(3):233-236. |
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| 作者姓名： | 叶志祥 冀春荣 宁祎 |
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| 作者单位： | 西安工业学院机械工程系!陕西西安710032(叶志祥，冀春荣)，郑州工业高等专科学校!河南郑州450007(宁祎) |
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| 摘 要： | 对目前应用的机器人运动学方程进行分析研究，揭示了采用传统运动学建模方法建立的运动学方程中存在的问题，并提出了改进措施．结合遥操作从手仿真系统进行计算机仿真，结果表明了改进措施的正确性．
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| 关 键 词： | 机器人 运动学 仿真 逆解算 |
| 文章编号： | 1000-5714(1999)03-0233-04 |
Inverse kinematics of simulation system of slave arm for teleoperation |
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| YE Zhi-xiang,JI Chun-rong,NING Yi.Inverse kinematics of simulation system of slave arm for teleoperation[J].Journal of Xi'an Institute of Technology,1999,19(3):233-236. |
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| Authors: | YE Zhi-xiang JI Chun-rong NING Yi |
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| Abstract: | The equation of robot kinematics applied presently is analyzed. Some problems are promoted, which are met during the equation being built with the traditional method. And improved measures are given.Combining the simulation system of slave arm for tele operation, computer simulation is processed. It is proved that measures are correct . |
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| Keywords: | robot kinematics simulation inverse kinematics |
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