摘要
以某倒置式ＳＰＲ型三自由度并联机器人为例，根据结构特点以活动平台为参考坐标系，然后再变换至基础坐标系，推导出机器人的正、逆运动学方程，并进行了逆运动学仿真。
As an example of three dofs up-side-down SPR parallel robot,its directand inverse kinematic equations are derived by taking the mobile platform as the referencecoordinate system which being transfered to base coordinate system afterwards,and the sim-ulation of inverse kinematic equation is made.
出处
《沈阳理工大学学报》
CAS
1995年第4期1-6,共6页
Journal of Shenyang Ligong University
基金
中国科学院机器人学开放研究基金
