| 基于现代微分几何的机器人研究现状 |
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| 引用本文： | 李永刚,宋轶民,张策. 基于现代微分几何的机器人研究现状[J]. 中国机械工程, 2007, 18(2): 238-243 |
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| 作者姓名： | 李永刚 宋轶民 张策 |
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| 作者单位： | 天津大学,天津,300072 |
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| 基金项目： | 国家自然科学基金;国家自然科学基金;高等学校博士学科点专项科研项目 |
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| 摘 要： | 近年来，基于现代微分几何的机器人研究已逐渐成为一个新的研究热点。从机器人结构学、运动学、精度、奇异性和动力学与控制等方面对现代微分几何理论的应用现状进行了详细介绍，分析了用现代微分几何理论进行机器人研究的优点，并结合现有尚未解决的问题指出了有待深入开展研究的方向。
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| 关 键 词： | 机器人 现代微分几何 结构学 运动学 动力学 |
| 文章编号： | 1004-132X（2007）02-0238-06 |
| 修稿时间： | 2006-07-18 |
State-of-the-Art of Robotics Research Based on Modern Differential Geometry |
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| Li Yonggang,Song Yimin,Zhang Ce. State-of-the-Art of Robotics Research Based on Modern Differential Geometry[J]. China Mechanical Engineering, 2007, 18(2): 238-243 |
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| Authors: | Li Yonggang Song Yimin Zhang Ce |
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| Affiliation: | Tianjin University, Tianjin, 300072 |
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| Abstract: | Recently,using modern differential geometry to study robotics is becoming a new hot field. Therefore, the detailed overview on robotics research based on modern differential geometry was presented herein including topology structure, kinematics, accuracy, singularity, dynamics and control etc. The advantages of this method were then presented. And some ways of further studies were predicted according to the existing problems. |
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| Keywords: | robot modern differentiai geometry topology structure kinematics dynamics |
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