【摘要】 应用基于旋量理论的指数积公式建立了搬运机器人的正解映射,并基于矩阵变换了求解该机器人逆运动学问题的方法,该方法为求解一般机器人的逆运动学问题提供了参考.更多还原

【Abstract】 The paper presents a method to solve the inverse kinematic problem of a robot by carrying out matrix transfofrmation to the forward kinematic mapping,which is derived based on theory of screw.The method has been successfully applied to studying the inverse kinematics of a transport robot;therefore it provides reference for dealing with the inverse kinematic problems of general industrial robots.更多还原