摘要
本文以自动化系机械自动化教研室设计的RPS—Ⅰ型机器人为实例,概要地介绍了三个关节机械手的直接位置问题,详细地介绍了该机械手的间接位置问题。它的仿真运算、树状解及其在实际中的应用。
A brief introduction to the direct position problem of robot manipulator with 3 joints is presented in this article. Meanwhile the inverse position problem of this robot manipulator as well as its simulative calculation, the solution as inverted branch of tree and its ap-plicaion are illustrated in detail.
出处
《北京石油化工学院学报》
1994年第1期45-48,共4页
Journal of Beijing Institute of Petrochemical Technology
关键词
机械手
直接位置问题
间接位置问题
仿真运算
树状解
Robot manipulator Direct position problem Inverse position problem Simulative calculation Solution as inverted branch of tree
