教学机器人运动学的笛卡儿解法

Solution based on Descartes geometry of educational robot

位置运动学的正问题和逆问题是机器人学中研究得比较多的问题,尤其是逆问题。针对一个教学型多关节机器人的机械特点,不用一般的齐次转换的方法而是用简单的笛卡儿几何的方法解决了其运动学逆问题。最后给出了实验结果,充分证明该方法的可行性。

The positive problem and negative problem of robot location kinematics is the relatively popular research area in the robotics. Aiming at the mechanism character of a multi axes robot,the location kinematics negative problem was solved by simple Descartes geometry instead of general matrix transform.The experimental results prove its feasibility.