关于一种模块化机器人的简化运动学反解

A Simplified Approach to Inverse Kinematics Solution for a Modular Robot

结构不同的机器人其运动学反解方法也有一些不同的特点,针对9自由度模块化机器人提出了一种新颖简化的运动学反解思想,它可以针对机器人的结构而灵活应用,并且在很大程度上减少了反解的思考时间,简化了反解的计算过程和减少了反解计算量.

Their inverse kinematics solutions are different for different construction robots. In the paper, a novel and simplified approach is proposed for a 9-DOF modular reconfigurable robot. The approach can be applied effectively for the robot's construction. It reduces consideration time, simplifies the process of calculation and reduces measure of calculation in a large measure.