摘要
本文以并联多回路6—SPS 机构位置反解方程为基础、得到了以非线性方程组形式表达的求解6—SPS 机构位置正解的“三维优化算法”求解公式.与现有的该机构位置正解算法相比该方法使原来解搜索维数由六维降至三维,因此,具有计算速度快,初值易于选取等优点.
Three-dimensional optimization algorithm of the position solution about the six-SPS mechanism isobtained in this paper.The algorithm is based on the inverse solution of the positional problem in theform of nonlinear equations.As contrasted with the original algorithm of the mechanical positional solu-tion,this new method reduces former six-dimensional optimization to three-dimensional optimization.Therefore,the calculating speed is fast enough and the initial value of the method can be chosen easily.
出处
《机器人》
EI
CSCD
北大核心
1989年第5期25-29,共5页
Robot
基金
国家自然科学基金
关键词
并联空间机构
位置反解
三维优化
parallel spatial mechanism
position inverse solution
three-dimensional optimization
