一种求解机器人操作器运动学逆问题的分解解法

A RESOLUTION METHOD OF SOLVING INVERSE KINEMATIC PROBLEMS OF MANIPULATORS

本文提出了一种新的求解操作器运动学逆问题的分解解法,它是对现有的代数解法和几何解法的综合.文中结合 PUMA 操作器对该解法作了具体阐述.

This paper combines the algebraic method and geometric method and presents a new resolution meth-od of solving the inverse kinematic problems of manipulators.In order to illustrate this method,a PUMAmanipulator are taken as an example.