【摘要】 本文分析了Stanford机器人位置结构和姿态结构的特点 ,根据末端执行器位置矢量和姿态转换矩阵 ,在考虑臂形标志的基础上推导出逆运动学问题新的算法 ,在MATLAB5 . 3上建立仿真实验系统 ,验证该算法的有效性更多还原

【Abstract】 This paper analyses the feature of the position structure and posture structure of Stanford robots. According to the position vector and posture transformation matrix, a new inverse kinematics algorithm is established based on arm configuration signs. A computer simulation system is developed in MATLAB 5.3 language. The simulation results show that the algorithm is effective.更多还原