摘要
本文采用几何法和代数法相结合的综合求解方法,通过求解4次方程式求出了EMMA(Engi-neering Model Manipulator Arm)机器人的运动逆解.EMMA有许多优点,它是一种很有前途的机器人.
This paper studies the inverse solution of EMMA(Engineering Model Manipulator Arm), a newly de-veloped product by a certain robot company. The inverse solution is obtained by combinativ usage of ge-ometry and algebra and by solving a fourth degree equation. It is shown that this kind of robot will cer-tainly have good prospects.
出处
《机器人》
EI
CSCD
北大核心
1991年第4期31-34,59,共5页
Robot
关键词
EMMA
机器人
运动逆解
inverse solution
geometric method
algebraic method
