七自由度仿人臂形操作机器人的运动学问题  

Kinematic Problems of the Operating Robot Imitating Human Arm with Seven Degrees of Freedom

作　　者：孙守迁[1] 冯仲和[1] 冯克宇 张康达[2] 

机构地区：[1]浙江大学 [2]浙江工学院

出　　处：《浙江工学院学报》1992年第3期67-73,共7页

摘　　要：本文根据七自由度仿人臂形操作机器人的结构特点,借助齐次变换矩阵,建立了运动学正问题的数学模型.并利用几何等同性条件,建立了运动学逆问题的数学模型,同时还建立了基于点位控制的轨迹规划数学模型,最后给出求解操作机器人各质点的速度和加速度的算法.According to the structural characteristics of the operating robot imitating human arm with seven degrees of freedom, the mathematical model of the kinematic problems is established with the help of the homogeneous transformation matrix. However, the mathematical model of the inverse kinematic problems is considered, in this paper, based on the condition of geometric equality. The mathematical model of the programming of loci is also investigated herein. The calculation method for the velocity and acceleration of particles on the operating robot is proposed.

关 键 词：操作机器人 自由度 运动学 数学模型 机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]