一关节型机械臂运动学分析及雅可比矩阵求解  

Study on the kinematics analysis and the Jacobian matrix of an articulated manipulator

作　　者：侯国柱[1] 孔庆忠[1] 

机构地区：[1]内蒙古工业大学机械学院,内蒙古呼和浩特010051

出　　处：《宁夏工程技术》2007年第1期14-16,20,共4页Ningxia Engineering Technology

摘　　要：为了研究操作臂各连杆之间的位移关系,求解了三自由度关节型机械臂的正运动学和逆运动学过程,建立了相应的运动学模型,并在此基础上求解其雅可比矩阵,建立了操作空间速度与关节空间速度之间的线性映射关系,为类似情况下的计算提供了参考.In order to study the relations between the displacements of the manipulator＇s links, a series of 3-DOF manipulator＇s solving processes about its direct kinematics problems and indirect kinematics problems were displayed meanwhile, direct and indirect kinematics models were established. On this basis the Jaeobian matrix was solved, and the linear mapping relations between the operation space velocity and the joint space velocity were established.

关 键 词：机械臂 运动学 雅可比矩阵 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]