| 用回转变换张量法求解FANUC S—5机器人的运动学问题 |
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| 引用本文： | 罗怡 钱晋武. 用回转变换张量法求解FANUC S—5机器人的运动学问题[J]. 上海大学学报(自然科学版), 1997, 3(1): 60-66 |
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| 作者姓名： | 罗怡 钱晋武 |
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| 作者单位： | 上海大学机械电子工程学院精密机械工程系 |
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| 摘 要： | 本文就一台六轴通用机器人ＦＡＮＵＣ Ｓ－５，建立了它的运动学模型，利用回转变换张量法求解出运动学正逆问题的封闭式解。在求解逆问题的过程中，根据ＦＡＮＵＣ Ｓ－５的结构特点分析了其可能的所有解，从而为机器人的运动空间分析、轨迹规划以及在此基础上开发应用系统提供了运动学理论依据。
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| 关 键 词： | 回转变换张量 运动学 机器人 运动空间分析 |
Using Rotary Transform Tensor Formulation to Solve Robot FANUC S 5 Kinematics |
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| Luo Yi Qian Jinwu Gong Zhenbang. Using Rotary Transform Tensor Formulation to Solve Robot FANUC S 5 Kinematics[J]. Journal of Shanghai University(Natural Science), 1997, 3(1): 60-66 |
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| Authors: | Luo Yi Qian Jinwu Gong Zhenbang |
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| Abstract: | This paper presents a six axis universal robot FANUC S 5 with its structure,function and characteristic being described. We build up its kinematic model and use rotary transform tensor formulation to get the closed form foward and inverse kinematic solutions. For the inverse kinematics, we analyzed all the probable solutions for FANUC S 5 before finally get the closed form solution. This paper is the theoretical base for working envelop analysis, path planning and further application systems. |
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| Keywords: | rotary transform tensor kinematics closed form solution |
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