摘要
研究6-SPS型并联机器人机构的运动学正向求解方法,推导了6-SPS型并联机器人运动学模型,提出了一种位姿和速度正向求解的方法,在此基础上,运用基于Moore-Penrose广义逆的牛顿迭代格式编制了MATLAB运动学正向求解程序,并进行了运动学正向求解数值仿真,结果表明求解程序快速有效。
Direct kinematics solution method of 6-SPS parallel manipulator was researched. Kinematics model of 6-SPS parallel manipulator was set up, and a new direct kinematics solution method of 6-SPS parallel manipulator was put forward, and then MATLAB iterative solution program on base of Moore-Penrose pseudo inverse was worked out. Direct kinematics numerical simulation of 6-SPS parallel manipulator was done using MATLAB software. It is proved that the direct kinematics solution method and program of 6-SPS parallel manipulator presented is effective and rapid.
出处
《系统仿真学报》
EI
CAS
CSCD
北大核心
2006年第8期2244-2246,共3页
Journal of System Simulation
基金
河南科技大学重大科技前期预研专项(2005ZD001)
天津自然科学基金项目(05YFJMJC04900)
河南省教育厅自然科学计划项目(2006460004)
关键词
并联机器人
运动学正解
广义逆
非线性方程组
parallel manipulator
direct kinematics solution
pseudo inverse
nonlinear equations
