摘要
针对上假肢的结构特点,提出用机构运动等同性条件和代数法相结合的方法来解决上假肢运动关节变量的逆解问题,以避免多次逆矩阵相乘。利用VB对CATIA进行二次开发,在CATIA软件中实现上假肢关节各个解所对应的空间位置姿态图形显示,可直观地判断解的有效性,为上假肢运动控制研究奠定基础。
A method based on algebraic and identity conditions for mechanism is presented to solve artificial upper limbs inverse kinematics problems.The method can avoid multi-times inverse matrics mutiplication in the course of deduction.The spatial positions of each joint angel are shown in CATIA by secondary development of CATIA with VB.It can determine the solutions directly and lay the foundation for movement research of artificial upper limbs.
出处
《工程图学学报》
CSCD
北大核心
2011年第1期119-123,共5页
Journal of Engineering Graphics
关键词
计算机应用
上假肢
可视化
CATIA二次开发
运动学逆解
computer application
artificial upper limbs
visualization
secondary development of CATIA
inverse kinematics resolution
