机器人运动学正解的新算法  

A NOVEL METHOD OF CALCULATION OF ROBOTIC MOVEMENTS

作　　者：赵国文[1] 潘毓学[1] 沈钟英 吴丽娟[2] 安承业 段秀敏[2] 宋若川[3] 迟颖敏 

机构地区：[1]长春光学精密机械学院 [2]吉林职业师范学院 [3]吉林农业大学

出　　处：《兵工学报》1995年第2期70-73,共4页Acta Armamentarii

基　　金：国家自然科学基金

摘　　要：机器人运动状态──位置和姿态的计算，是机器人机械学的基础性研究之一。国内外虽然现有多种计算方法，但它们的共同点是都麻烦。作者也曾提出过两种算法，虽具有明显的简化效果，但仍不理想。本文利用作者提出的类复向量矩阵及其特殊形式──基类复向量矩阵，实现了只应用单一数学工具的两个公式完成机器人运动状态的全部计算，从而把这项基础性研究推进到一个新水平。Calculation of the position and posture in robots is one among the basic elements in the study of robotic mechanisms.Many principles and methods of calcutation have thus far appeared both domestically and abroad,yet all shearing the common drawback of being too complicated.The authors have suggerted two methods,aimed at a shoplification of the process.On its basis the authors seek to further simplify it, utilizing the concept of similar complex vector matrices and its special form —the based si milar complex vector matrices,so that all the necessary calculations in robotic movements can be resolved with very sample mathematical manipulations.

关 键 词：机器人 运动状态 类复向量矩阵 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]