摘要
介绍了四自由度教学机器人的基本传动方案及其具体机械结构，并对它的正运动学和逆运动学问题加以分析和求解，为机器人运动规划和轨迹的控制提供了理论基础。
This paper prowded introduction of basic transmission scheme and mechanical structure of four degree of freedoms teaching robot, and analysed the forward and inwrse kinematics of the ro- bot, the forward and in4erse solutions were attained, which afford theoretic basis of kinematics plan and track control.
出处
《林业机械与木工设备》
北大核心
2002年第3期13-15,共3页
Forestry Machinery & Woodworking Equipment
