摘要
质心坐标系的运动学逆解由于其空间变换关系中的７个结构参数中有６个是常数且取值总是非常简单以及第４列元素总是包含了第３列元素而使得求解得以简化。求解过程和结果与关节坐标系完全一致。斯坦福机械手的运动学逆解证明了这一点。
The reversed solution of kinematics of robots for the coordinate frame attached to a body assigned to mass center is simplified based on six simple constants in seven parameters of construction and the elements in third row always included in the elements in fourth row in relation of space transformation. Results for Stanford Arm are presented.
出处
《福州大学学报（自然科学版）》
CAS
CSCD
1996年第3期38-42,共5页
Journal of Fuzhou University(Natural Science Edition)
关键词
质心坐标系
空间变换关系
运动学
逆解
机器人
coordinate frame attached to mass center
space transformation relation
kinematics
reversed solution
