【摘要】 研究了冗余度机器人的逆运动学,提出了用矩阵分块法解决冗余度机器人逆运动学,并将此法应用到基于速度和基于加速度的最优轨迹确定中,得出了便于实用的数值计算公式.此方法回避了求雅可比伪逆矩的繁琐过程,仿真结果表明此法是可行的.更多还原

【Abstract】 In this paper, the adverse kinematics of redundancy robot is studied,and the matrix analysis of solving the inverse kinematics of redundancy robot is prsesented. This method is applied to the determination of the optimal trace based on the acceleration, and the available numerical computation fonnula is obtained This method avoids determining complex.更多还原