摘要
从并联机器人的基本约束方程出发,通过引入中间变量和数学处理,借助Matlab数学推导软件,得到以动平台姿态角为变量的3个独立方程。在最后的实例中,介绍一种基于同伦映射的延拓牛顿迭代法,即从任意的初值出发,通过数值延拓求得方程组的解。
Based on the constrain conditions of parallel robot and Matlab system, it deducts 3 independent functions with the variables of stance in dynamic roof. As an example, it shows the evolution Newdon alternations at same logic based mapping. The solution of the functions can be gained from any initial data.
