六维鼠标中力矩/转角变换的RPY角方法  

RPY Method of Tansforming Moments into Rotation Angles Used in 6-DOF Mouse

作　　者：赵现朝[1] 金振林[1] 

机构地区：[1]燕山大学机械工程学院,秦皇岛066004

出　　处：《燕山大学学报》2002年第4期335-338,共4页Journal of Yanshan University

基　　金：燕山大学科技发展基金;天津市科技基金资助

摘　　要：研究了一种精确计算六维鼠标中力矩与转角的变换关系方法——RPY角法。分析了力矩/转角变换需要遵循的原则,给出了RPY角变换的具体实施步骤和计算方法,基于该方法的六维鼠标控制虚拟6-SPS并联机器人动平台转动实验显示了该方法的正确性。This paper presents a RPY method about transforming moments into rotation angles used in 6-DOF mouse, which is developed by our Robotics Research Center. It analysis the principle which should be followed when study this transforming reletionship, and gives the details about how to make this method in practice. This method is used in the virtual 6-SPS parallel robot control system, and the results show this transforming method is efficient.

关 键 词：力矩/转角变换 六维鼠标 RPY角 虚拟现实 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]