机器人服务角的分析

ANALYSIS OF ROBOT SERVICE ANGLE

本文着重解决机器人绕工作空间内任一点的服务角计算问题.首先,本文分析了服务区的一些性质;其次,讨论了机器人非线性方程组的解;最后,提出了一种求解服务区边界及灵活工作空间特性系数的新方法.

This paper,particularly dealing with the calculating problem of manipulator service angle around anypoint in the workspace,analysis at first some qualities of service region,and then discusses solution of robotnon-linear equations.Lastly,it presents a new method for computing the boundary of service region anddextrous workspace properties.