| 多关节机械臂的运动学分析与综合 |
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| 引用本文： | 万水,陈建平.多关节机械臂的运动学分析与综合[J].石河子大学学报,1991(1). |
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| 作者姓名： | 万水 陈建平 |
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| 作者单位： | 石河子农学院水利系
(万水)，南京航空学院(陈建平) |
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| 摘 要： | 本文提出了多关节机械臂运动学正问题的递推公式,并利用这些递推公式方便地解决了多关节机械臂的运动学逆问题,不仅物理概念清晰,而且无需导出其显式表示.文中所述方法简单、新颖,通用性强,适用于计算机编程,对多关节机械臂的设计与控制都有一定的指导作用.
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| 关 键 词： | 刚体 机械臂 多关节 |
Analyses and Syntheses on Kinematics of the Multijoint Mechanical Arm |
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| Wan Shui.Analyses and Syntheses on Kinematics of the Multijoint Mechanical Arm[J].Journal of Shihezi University(Natural Science),1991(1). |
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| Authors: | Wan Shui |
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| Institution: | Wan Shui (Shihezi Agricultural College)
Chen Jianping (Nanjing Aeronautical Institute) |
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| Abstract: | In this paper, a forward recursive formula for the kinematical problem of the multijoint mechanical arm is derived. The inverse kinematical problem of the multijoint mechanical arm can be conveniently solved by making use of the recursive formula.The method described in this paper is simple and original. It also suits to be programmed. |
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| Keywords: | rigid body mechanical arm multijoint |
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