| 并联机器人运动学正解的实解分析 |
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| 引用本文： | 王奇志,徐心和.并联机器人运动学正解的实解分析[J].东北大学学报(自然科学版),1999,20(4). |
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| 作者姓名： | 王奇志 徐心和 |
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| 作者单位： | 东北大学信息科学与工程学院,沈阳,110006 |
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| 摘 要： | 在３ － ６ 并联机器人运动学正解解析解的研究基础上，对其正解的最大实解个数进行进一步的分析研究·研究表明其正解问题最后可转化为一个高次多项式方程求解问题，称此方程为正解的等价多项式方程·通过分析可知，运动学正解实解的个数的上限为： 当自变量在其解区间时其等价多项式方程实解的个数·最后应用 Ｓｔｕｒｍ 定理对正解最大实解个数进行判定·
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| 关 键 词： | 并联机器人运动学正解 实解分析 Sturm定理 |
Real Solutions Analysis of the Direct Kinematics for a Parallel Manipulator |
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| Wang Qizhi,Xu Xinhe.Real Solutions Analysis of the Direct Kinematics for a Parallel Manipulator[J].Journal of Northeastern University(Natural Science),1999,20(4). |
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| Authors: | Wang Qizhi Xu Xinhe |
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| Abstract: | The most real solutions number of the direct displacement of kinematics for 3-6 parallel manipulator was further studied in term of its analysis solutions. The direct displacement problem can be changed into solving a polynomial equation called the equivalent polynomial equation. The most real solutions number of direct displacement of kinematics is the real solutions number of the equivalent polynomial equation whose independent variable belongs to solution interval. Finally, Sturm theorem was applied to determinate the most real solutions for the direct displacement of kinematics. |
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| Keywords: | direct displacement of kinematics real solutions analysis sturm theorem |
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