摘要
本文利用四元数对刚体系统进行线运动分析。用这种方法研究多关节机械臂的线运动时,具有方程无奇性、线性程度高等长处。用计算机作数值计算时,利用此方法可节省机时,减小计算误差。
Abstract In this paper, a new method for the motion analysis of jointed manipulator is developed from the Quaternions Theory. A kinematic recursion model of the robot is presented. It is easier to obtain the motion equations of open chain robot with this method than others. A PUMA 550 robot is taken as an example to illustrate the model.
关键词
机械臂
关节式
运动分析
四元数
quaternions theory
jointed manipulator
motion analysis
