| PUMA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： | 王奇志,徐心和,尹朝万.PUMA机械手逆运动方程新的推导方法及求解[J].机器人,1998,20(2):81-87. |
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| 作者姓名： | 王奇志 徐心和 尹朝万 |
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| 作者单位： | 东北大学研究生院，中国科学院机器人学开放研究实验室 |
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| 摘 要： | 本文提出了一种新的推导ＰＵＭＡ型机器人逆运动方程的方法，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姿进行坐标变换，而且也给出了问题的解析解．另外在解的推导过程中避免了大量的逆矩阵相乘．方法简单．仿真证明了计算结果的正确．
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| 关 键 词： | 机器人逆运动学 算法 解析解 |
A NEW INFERENTIAL METHOD AND EFFICIENT SOLUTIONS FOR INVERSE KINEMATICS EQUATIONS OF PUMA ROBOT MANIPULATOR |
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| WANG Qizhi,XU Xinhe.A NEW INFERENTIAL METHOD AND EFFICIENT SOLUTIONS FOR INVERSE KINEMATICS EQUATIONS OF PUMA ROBOT MANIPULATOR[J].Robot,1998,20(2):81-87. |
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| Authors: | WANG Qizhi XU Xinhe |
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| Abstract: | A new inferential method for inverse kinematics equation of PUMA manipulators is presented in this paper, and efficient solutions of inverse kinematic problem are also given. The method needn't change the coordinates of the manipulator end effector, and analytic solutions of the problem are obtained. Additionally, a lot of multiplication of inverse matrics are avoided in the course of deduction. This method is very simple, the results are simulated and the conclusions are correct. |
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| Keywords: | Robot inverse kinematics algorithm analytic solutions |
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