履带式机器人运动学分析

The Kinematic Analyse of Track Robot

阐述了履带式机器人的运动机构,并对其运动学性能进行了分析。采用空间坐标变换基本原理及坐标变换的矩阵解析方法建立了运动方程,并在此基础上求出其逆解,同时对解进行了分析。为机器人的空间位置实时控制提供了理论依据和有力保证。

This article introduces the kinematic mechanics of track robot and analyses its kinematics.Based on the space coordinate transform theory and matrix resolution method,the kinematic equation has been built and its inverse solution has been given.The paper provided a thoretical fowndation for on-time control of space position and pose of this track Robot.