摘要
机器人、操作器、步行机等空间开链机构的运动学计算,迄今广泛应用矩阵法,计算过程相当复杂.本文提出的类复向量算法与矩阵算法相比的显著优点是:描述问题简明直观;坐标变换次数和被变换的向量数目明显减少,而且消元原理和方法简捷,从而使计算过程大大简化.本文还将揭示出类复向量法计算简单的主要原因.
Up to now matrix method has been extensively used in kinematic calculation of machine hand,walking ma-chine and other open—linkage mechanisms.The method is extremely complicated.Class complex polar vee-tor(?)algorithm proposed in this paper has outstanding advantages in comparision with matrix method:problemdescription are simple and visual;frequencies of coordinate transformation and numbers of transformed vectorare reduced greatly;principle and method of elimination are simple and direct,thus calculating process is farshorter.This paper details the Class complex polar vector algorithm.
出处
《机器人》
EI
CSCD
北大核心
1992年第3期17-23,共7页
Robot
关键词
机器人
运动学
类复向量
算法
robot
kinematics
class complex polar vector
