空间旋转矩阵在运动链运动学建模中的应用

ROTATIONAL MATRIX AND ITS APPLICATION IN KINEMATIC MODELLING OF SPATIAL KINEMATIC CHAIN

在研究空间旋转矩阵及其性质基础上，推导和证明了刚体空间变换及其摄动的一些重要特性，构造了空间单环运动链运动学模型的规格化表达格式该模型形式简洁，概念清晰，易于编程，已在机器人和空间机构运动分析中得到验证。

ased upon the study on spatial rotational matrix and its characters, the formula of transformation and perturbation of rigid bodies are deduced and proved in this paper.The kinematic model of single-loop spatial kinematic chain is established. The model, clear in concept and terse in form, has been successfully tested in the kinematic analyses of robot manipulators and spatial linkages.