摘要
并联机器人运动学正解问题是一个重要而且难以解决的问题．本文利用符号计算工具，应用Ｄｉａｌｙｔｉｃ消元法，对一类６－ＳＰＳ并联机器人的运动学正解问题进行研究．得到一个变元多项式方程，给出了正解的解析解．在此基础上确定其工作空间，求出其解范围内全部实解．
The direct kinematics for parallel robot is important and difficult problem. In this paper the direct kinematics for a class of 6 SPS parallel manipulator is studied by symbolic computation approach and Dialytic elimination method. Lead to a polynomial equation in one variable, the analytic solutions of the direct kinematics are derived. Then the workspace determined, the all real solutions are given. The method is suitable to the direct kinematics of a general 6 SPS, parallel manipulator.
出处
《机器人》
EI
CSCD
北大核心
1999年第2期117-121,共5页
Robot
基金
中国科学院机器人学开放研究实验室基金
