【摘要】 对目前应用的机器人运动学方程进行分析研究，揭示了采用传统运动学建模方法建立的运动学方程中存在的问题，并提出了改进措施．结合遥操作从手仿真系统进行计算机仿真，结果表明了改进措施的正确性．更多还原

【Abstract】 The equation of robot kinematics applied presently is analyzed. Some problems are promoted, which are met during the equation being built with the traditional method. And improved measures are given.Combining the simulation system of slave arm for tele operation, computer simulation is processed. It is proved that measures are correct .更多还原