摘要
利用坐标变换法和符号法对六连杆机器人机构运动学方程进行推导,得到了六连杆机器人的正向位姿矩阵变换和逆运动学求解的通用公式.
The coordinate transform and symbol method were used to derive the six-freedom robot＇s kinematics equation. The common formula was acquired for both the forward direction pose matrix and the converse solution of the six-freedom robot＇s components.
出处
《包头钢铁学院学报》
2006年第4期360-364,共5页
Journal of Baotou University of Iron and Steel Technology
关键词
符号法
位姿矩阵
逆解
symbol method
location- stance matrix
converse solution
