【摘要】 对于机器人操作手运动学模型求解的系列关系式最佳推导的问题，分析了矩阵运算的一些技巧和旋转矩阵正交性的有关性质，并讨论了系列Ａ矩阵相乘运算的化简规律，在此基础上提出了运动学模型求解的系列关系式有效推导的基本原则和方法，从而避免系列Ａ矩阵相乘展开的繁杂运算。更多还原

【Abstract】 An effective derivation of serial espressions for solving the kinematic model of a robotmanipulator is described.Techniques concerning matrix operations and the properties of the orthogonality of the spin matrix are discussed.Algebraic and trigonometric simplification ofsuccessive multiplication of A matrices is given。An effective method for the derivation of se-rial expressions for solving the kinematic model is presented.An example is given for illus-tration。更多还原