摘要
本文结合几何法和解析法的优点，提出了一种新的机械手逆运动学求解法。这种方法先应用几何法的直观性，确定各关节角和机械手末端姿态角的关系，再运用解析法求出各关节角，大大减少了逆矩阵相乘的次数，适合机器人的实时在线控制。
taking advantage of geometric algorithm and analytical algorithm,A new algorithm for the inverse kinematics of the manipulator is presented in this paper.At first,the method determines the relationship between the joint angles and the position of the manipulator end effector by gemetric alogrithm,then makes out the joint angles by analytical algorithm.It greatly reduces the times of multiplication of inverse matrix in the course of deduction.The method is fit for on line robot control.
出处
《苏州丝绸工学院学报》
1999年第5期17-21,共5页
Journal of Suzhou Institute of Silk Textile Technology
