| 基于雅克比矩阵求解并联机器人位置正解方法 |
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| 引用本文： | 米士彬,金振林.基于雅克比矩阵求解并联机器人位置正解方法[J].燕山大学学报,2011,35(5):391-395. |
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| 作者姓名： | 米士彬 金振林 |
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| 作者单位： | 1. 燕山大学机械工程学院,河北秦皇岛,066004
2. 燕山大学机械工程学院,河北秦皇岛066004;上海交通大学机械系统与振动国家重点实验室,上海200240 |
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| 基金项目： | 机械系统与振动国家重点实验室开放课题资助项目(MSV-2010-24) |
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| 摘 要： | 并联机器人位置正解一直是并联机器人研究的难点之一,本文提出了一种基于雅克比矩阵求解并联机器人位置正解的新方法,该方法利用并联机器人的初始位置及雅克比矩阵,能够快速求解并联机器人的位置正解,此法可用于并联机器人的实时控制。最后以求解6-PSS并联机器人正解为例,验证了该方法的可行性和正确性。
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| 关 键 词： | 位置正解 雅克比矩阵 6-PSS并联机器人 迭代 |
Seeking positional forward solution of parallel mechanism based on Jacobin matrix |
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| MI Shi-bin,JIN zhen-lin.Seeking positional forward solution of parallel mechanism based on Jacobin matrix[J].Journal of Yanshan University,2011,35(5):391-395. |
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| Authors: | MI Shi-bin JIN zhen-lin |
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| Institution: | MI Shi-bin1,JIN Zhen-lin1,2(1.College of Mechanical Engineering,Yanshan University,Qinhuangdao,Hebei 066004,China,2.State Key Laboratory of Mechanical System and Vibration,Shanghai Jiaotong University,Shanghai 200240,China) |
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| Abstract: | The positional forward solution of parallel mechanism has been a challenging issue.A new method is proposed in this paper.The positional forward solution of parallel mechanism can be solved quickly and accurately when the initial pose and the Jacobin matrix of parallel mechanism are known.This method can be used to control the movement of parallel mechanism.Finally,this method is proved to be feasible and correct by seeking the positional forward solution of 6-PSS parallel mechanism. |
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| Keywords: | positional forward solution Jacobin matrix 6-PSS parallel manipulators iteration |
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