肩关节在原点的关节式机械手位姿分析

为开发肩关节在原点且手部做三维运动的智能型关节式机器人实时控制系统 ,本文提出了用一个单位矢量有向角取代用三个单位矢量方向余弦描述手部姿态的新概念 ,提出了由关节变量确定位姿及由位姿确定各组关节变量的简单算法 ,探讨了手部姿态固定时的 16组关节变量 ,并通过实例说明了该方法。

Analysis of the Position and Gesture of a Prosthetic Manipulator whose Shoulder Joint is on the Origin

In order to develop a real-time control system of intelligent robot of prosthetic manipulator whose shoulder joint is on the origin and its hands perform three dimensional motion, this paper puts fonward anew conception that describes the gesture of the hand in which the direction angle with one unit vector replaces the direction cosine with three unit vectors. It also present a new mothod for determining the position and gesture according to the joint variables, and determining the joint variables in each group according to the hand position and gesture. Finally, 16 groups of the joint variables are discussed when the gesture is fixed. An example is given to illustrate the application of the method.