摘要
讨论了用完全笛卡尔坐标描述的空间机械手逆动力学问题。利用完全笛卡尔坐标建立空间机械手初积分形式动力学方程，根据末端设计轨迹，对机械手进行逆动力学仿真计算，结果表明该方法是一种简便、高效的可行方法。
The inverse problem of space manipulator described by full Cartesian coordinates is studied in the present paper. By means of the full Cartesian coordinates method, a differential equation of first order for space manipulator is formulated. It is shown by the numerical simulation of inverse dynamics of space manipulator that the given method is simple and efficient.
出处
《机械科学与技术》
CSCD
北大核心
1998年第3期413-415,共3页
Mechanical Science and Technology for Aerospace Engineering
基金
国家自然科学基金
