摘要
新型便携式机器人为６自由度机器人，具有一个移动关节和５个转动关节，适用于水轮机叶片现场修复工作．给出了这种机器人逆运动学的求解方法，避免了大量逆矩阵相乘，方法简单．
The kinematic model of 6R robot is built. It has a moving joint and five rotating joints. It is used to repair the destroyed turbine blades. The forward and inverse solutions are also given. This method is simple and avoids large amount of multiplication of inversal matrics.
出处
《哈尔滨理工大学学报》
CAS
2000年第3期51-54,共4页
Journal of Harbin University of Science and Technology
