| 基于符号计算研究一类6-SPS并联机器人运动学正解问题 |
| |
| 引用本文： | 王奇志,徐心和.基于符号计算研究一类6-SPS并联机器人运动学正解问题[J].机器人,1999,21(2). |
| |
| 作者姓名： | 王奇志 徐心和 |
| |
| 作者单位： | 东北大学信息科学与工程学院(王奇志)，中国科学院机器人学开放研究实验室(徐心和) |
| |
| 基金项目： | 中国科学院机器人学开放研究实验室基金 |
| |
| 摘 要： | 并联机器人运动学正解问题是一个重要而且难以解决的问题．本文利用符号计算工具，应用Ｄｉａｌｙｔｉｃ消元法，对一类６－ＳＰＳ并联机器人的运动学正解问题进行研究．得到一个变元多项式方程，给出了正解的解析解．在此基础上确定其工作空间，求出其解范围内全部实解．此种方法对于一般６－ＳＰＳ同样适用
|
| 关 键 词： | 并联机器人 运动学 符号计算 |
THE STUDY OF THE DIRECT KINEMATICS FOR A CLASS OF 6-SPS PARALLEL ROBOT BASED ON SYMBOLIC COMPUTATION |
| |
| WANG Qizhi,XU Xinhe.THE STUDY OF THE DIRECT KINEMATICS FOR A CLASS OF 6-SPS PARALLEL ROBOT BASED ON SYMBOLIC COMPUTATION[J].Robot,1999,21(2). |
| |
| Authors: | WANG Qizhi XU Xinhe |
| |
| Abstract: | The direct kinematics for parallel robot is important and difficult problem. In this paper the direct kinematics for a class of 6 SPS parallel manipulator is studied by symbolic computation approach and Dialytic elimination method. Lead to a polynomial equation in one variable, the analytic solutions of the direct kinematics are derived. Then the workspace determined, the all real solutions are given. The method is suitable to the direct kinematics of a general 6 SPS, parallel manipulator. |
| |
| Keywords: | Parallel robot kinematics symbolic computation |
| 本文献已被 CNKI 万方数据 等数据库收录！ |
