应用基于运动螺旋的机器人正解映射求解搬运机器人的逆运动学问题  

TO SOLVE INVERSE KINEMATIC PROBLEM OF A TRANSPORT ROBOT BY MEANS OF FORWARD KINEMATIC MAP BASED ON THEORY OF SCREW

作　　者：荆学东[1] 鲁省龙 黄绍民 张宝文[1] 

机构地区：[1]陕西科技大学机电工程学院,陕西西安710021 [2]中国建材轻工机械集团公司安阳机械厂,河南安阳455000

出　　处：《陕西科技大学学报（自然科学版）》2008年第6期133-137,共5页Journal of Shaanxi University of Science & Technology

摘　　要：应用基于旋量理论的指数积公式建立了搬运机器人的正解映射,并基于矩阵变换了求解该机器人逆运动学问题的方法,该方法为求解一般机器人的逆运动学问题提供了参考.The paper presents a method to solve the inverse kinematic problem of a robot by carrying out matrix transfofrmation to the forward kinematic mapping, which is derived based on theory of screw. The method has been successfully applied to studying the inverse kinematics of a transport robot;therefore it provides reference for dealing with the inverse kinematic problems of general industrial robots.

关 键 词：机器人 旋量 逆运动学 指数积公式 正解映射 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TH113.2[自动化与计算机技术—控制科学与工程]