摘要
在粮仓取样机器人中 ,求运动学逆解的方法很多 ,但都比较繁琐 ,运算过程冗长 .本文主要阐述一种近期常用的方法———偶数方法 ,它将使机构求解的过程大为简化 ,且易实现机器人的离线编程以及实时控制 ,本文旨在对该方法进行介绍并对其在机器人机构中的应用进行初步探讨 .
In granary sampling robots,there are lots of methods solving inverse kinematics, but they are niggling and their operation procedures are lengthy. This paper principally expatiates on a frequently used method dual numbers method,which will make the operation procedures simplified and easily achieved off line programming and real time control about robots. The main purpose is to introduce the method and to preliminarily study on its applications in robots machinery.
