HNC-IR机器人运动学方程的研究及求逆的新方法

在对ＨＮＣ－ＩＲ机器人进行结构分析的基础上，建立了机器人运动学模型，提出了一种析的机器人逆运动学的求解方法，与传统方法相比，此方法大大减少了计算运动方程正逆解的计算量。这时还结合具体机构，对一次逆解过程中解方程没有封闭解情况，运用多重计算的方法作了处理，取得了很好的效果。

Research for kinematics equtions of HNC-IR robot and a new solution for inverse kinematics equtions

The paper sets up kinematics model based on structural analysis of HNC-IR Robot and presents a new solution of robot's inverse kinematics equations.Compared with traditional algorithms,this method reduced sharply the computation of kinematics equations and inverse kinematics equations.In accordance with specific structure,the paper also puts to use multi-computation method to deal with the problem that equations have no closed-form solution during inverse kinematics equations.It's proved to an efficient solution.