基于类复向量原理的机器人位置和姿态分析  

Analysis of position and gesture of robot based on complex vector principle

作　　者：段秀敏[1] 李莲芝 

机构地区：[1]吉林工程技术师范学院,吉林长春130052 [2]吉林水利水电学校,吉林长春130062

出　　处：《吉林工程技术师范学院学报》2004年第3期37-41,共5页Journal of Jilin Engineering Normal University

摘　　要：介绍了双实部类复向量的有关原理,建立了机器人位置的类复向量方程,并以6R机械手为例,论述机器人位置和姿态分析的类复向量方法。本文的方法与现行坐标变换矩阵法相比,变换次数和被变换的向量个数明显减少,从而使计算过程大大简化。The text induces the principle of two complex vectors at first and builds the equation of complex vector for the position of the Robot. Finally we take 6R manipulator as example to dissertate the complex vector measure to the position and gesture of Robot. The measure of the text compares the current coordinate matrix, the switch time and the number of switched vector have decreased, so the process was simplified.

关 键 词：类复向量 机器人 位置 姿态 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]