摘要
讨论了一种四自由度机器人运动学模型的建立问题,在此基础上给出了该机器人运动学正解和运动学逆解的简化求解方法,简化了求解过程,大大减少了计算量。实验表明:这种简化求解方法是可行的并且是有效的。
The paper introduces kinematics modeling for a kind of four degrees of freedom robot and gains the robot's forward kinematics and inverse kinematics by using a simplified method based on this. The method not only simplifies the solving process, but also reduces the computations. Experiments show that this method is feasible and efficient .
出处
《天津职业技术师范学院学报》
2003年第4期1-4,共4页
Journal of Tianjin Vocational Technical Teachers'college
基金
天津市自然科学基金资助项目(013602811).
关键词
机器人
运动学建模
正解
逆解
robot
kinematics modeling
forward kinematics
inverse kinematics
