摘要
提出了应用基于运动螺旋的开链机器人正解映射 ,求解闭链机器人 - FANU C机器人逆运动学问题的方法 。
We present a method to solve the inverse kinematic problem of closed chain robots by means of forward kinematic map, which is derived based on theory of screw. The method has been successfully applied to studying the inverse kinematics of FANUC robot;and it also provides reference for solving the inverse kinematic problems of general industrial robots.
出处
《机械科学与技术》
CSCD
北大核心
2003年第3期402-405,共4页
Mechanical Science and Technology for Aerospace Engineering
关键词
机器人
旋量
逆运动学
指数积公式
正解映射
Robot
Screw
Inverse kinematics
Product exponential formula
Forward kinematic map
