可重组机器人运动学正逆解的自动生成

Automatic Generation of the Reconfigurable Robot Forward and Inverse Kinematics

可重组模块机器人构形确定后 ,找出依序的连杆、关节模块 ,采用指数积 ( PME)法 ,自动生成运动学正方程 .把运动学正方程转换成相对于固定坐标系的方程 ,找出规律 ,分成 4个子问题 ,成功地运用 PME法得到自动求模块机器人逆解的算法——逆运动学指数积 ( PMEI)法 .Windows环境下正逆解的自动生成说明了该方法的可行性 .

When the configuration of reconfigurable modular robot is finalized,the link module and joint module are gained.The PME method isadopted.So the forward kinematics isgenerated automatically.As for the inverse kinematics,this paper transferred the body coordinate system to the fixed coordinate sys- tem and found the rules,then divided them into 4 sub- problems. With the PME method,the inverse kine- matics algorithm( PMEImethod) was got.Under Windows environmentsome examples were given.