摘要
对一种新型的喷射混凝土机器人的运动学逆问题进行了详细的研究 .由于用代数法求解此机器人运动学逆问题时方程繁琐难解 ,采用了数值算法 ,即牛顿 -拉普森算法 .此算法可以保证收敛并且收敛速度也较快 。
The kinematics inverse problem of a new type concretespary robot is throughly studied. Because it is very difficult for us to slove the kinematics inverse problem by the method of algebra, the numerical method, the algorithms of Newton-Lapson are used to solve the inverse problem. Convergence rate of the algorithm is rapid and suit for real time control.
关键词
喷射混凝土
工业机器人
运动学
逆问题
Gunite concrete
Industrial robot
Kinematics
Inverse problem
