| 用优化方法求解一般并联机械手运动学正问题 |
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| 引用本文： | 刘东升,龚振邦,汪勤悫.用优化方法求解一般并联机械手运动学正问题[J].应用科学学报,1998,16(4):392-396. |
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| 作者姓名： | 刘东升 龚振邦 汪勤悫 |
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| 作者单位： | 上海大学 |
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| 摘 要： | 采用优化方法求解一般并联机械手运动学正问题,其方法简单实用,不需要复杂的公式推导,对初始值也没有什么要求,对于一般的并联机械手都可以求出其最优解.文中最后给出了一个数值算例
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| 关 键 词： | 并联机械手 优化 乘子法 运动学正问题 |
| 收稿时间： | 1997-05-17 |
| 修稿时间： | 1997-10-27 |
An Optimization Method for the Direct Position Kinematic Problem of a General Parallel Manipulator |
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| LIU DONGSHENG,GONG ZHENBANG,WANG QINQUE.An Optimization Method for the Direct Position Kinematic Problem of a General Parallel Manipulator[J].Journal of Applied Sciences,1998,16(4):392-396. |
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| Authors: | LIU DONGSHENG GONG ZHENBANG WANG QINQUE |
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| Institution: | Shanghai University, Shanghai 201800 |
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| Abstract: | This paper deals with the direct position kinematic problem of a general pa rallel manipulator using an optimization method. Without complex formular deduction and without restricting starting point, this method is effective to all parallel manipulators. This new theoretical result is confirmed by numerical examples. |
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| Keywords: | parallel manipulator direct position kinematic problem optimization multiplier |
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