【摘要】 应用空间算子代数理论,研究工业机器人雅可比的结构特点,研究表明工业机器人雅可比可表示为3种空间算子的乘积,即:J=B Ф H ,这种表示具有简洁的数学表达和明确的物理意义,据此可形成对速度和静力的高效递推算法。更多还原

【Abstract】 The theory of Spatial Operator Algebra was firstly used to research the structure characteristics of industrial robot’s Jacobin matrix.It is interpreted by the research that Jacobin matrix can be depicted by three kinds of Spatial Operators as J=B*Ф*H*.This depiction has a simple math expression and a clear physical meaning, and then based on it a high effective stepping method can be formed to compute velocity and static force. 更多还原