| 空间旋转矩阵在运动链运动学建模中的应用 |
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| 引用本文： | 李江 曾子平. 空间旋转矩阵在运动链运动学建模中的应用[J]. 天津大学学报(自然科学与工程技术版), 1994, 27(2): 158-163 |
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| 作者姓名： | 李江 曾子平 |
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| 基金项目： | 国家教育委员会博士点基金 |
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| 摘 要： | 在研究空间旋转矩阵及其性质基础上，推导和证明了刚体是变换及其摄动的一些重要特性，构造了空间单环运动链运动学模型的规格化表达格式，该模型形式简洁，概念清晰，易于编程，已在机器人和空间机构运动分析中得到验证。
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| 关 键 词： | 旋转矩阵 空间运动链 运动学 建模 |
ROTATIONAL MATRIX AND ITS APPLICATION IN KINEMATIC MODELLING OF SPATIAL KINEMATIC CHAIN |
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| Li Jiang, Zeng Ziping ,Huang Tian, PengZemin. ROTATIONAL MATRIX AND ITS APPLICATION IN KINEMATIC MODELLING OF SPATIAL KINEMATIC CHAIN[J]. Journal of Tianjin University(Science and Technology), 1994, 27(2): 158-163 |
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| Authors: | Li Jiang Zeng Ziping Huang Tian PengZemin |
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| Affiliation: | Detp. of Mechanical Engineering |
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| Abstract: | ased upon the study on spatial rotational matrix and its characters, the formula of transformation and perturbation of rigid bodies are deduced and proved in this paper.The kinematic model of single-loop spatial kinematic chain is established. The model, clear in concept and terse in form, has been successfully tested in the kinematic analyses of robot manipulators and spatial linkages. |
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| Keywords: | rotational matrix. spatial kinematic chain kinematics |
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