摘要
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.
出处
《北京邮电大学学报》
EI
CAS
CSCD
北大核心
2004年第z2期89-93,共5页
Journal of Beijing University of Posts and Telecommunications
关键词
模块化机器人
运动学反解
平面化思想
modular robot
inverse kinematics solution
complanation thinking