摘要
针对并行机器人的结构特点，提出一种新的自观、简便姿态描述，并对一类3－RSR并行机器人进行几何分析，给出一种新的解法：应用Mathematica软件编程进行符号运算得到该类平台的闭式解，闭式解便于实现实时控制，同时用算例进行校验，结果表明计算速度快，达到秒级，为实时控制和实际应用创造厂条件。
This paper. on the basis of the structural characteristics of parallel structure robot, advanced a new description of posture. which is visual and convenient, analyzed the parallel-structure robot tbr geometry and gives a new solution. The closed solution of this platform was obtained by Mathematical software programming and symbolic operation, which is convenient to realize the real-time control. At the same time, the closed solution was tested by computing instances. The result shown that the computing speed was so fast up to seconds. thus creating conditions for real-time control and practical application.
出处
《矿山机械》
北大核心
2000年第6期57-60,共4页
Mining & Processing Equipment
关键词
机器人
并行机器人
正向运动学
闭式解
Parallel-structure robot Posture decription Positive solution of position Symbolic operation
