论文部分内容阅读
提出新的模块建模方法,通过新的建模方法,可快速搭建机器人的运动学模型.将机器人在目标点的工作位形分解成有限个构形平面的方法,通过对分解的平面构形的工作空间描述,进行构形平面间的姿态和位置匹配,从而找到机器人的数值逆解.通过对采用基本模块搭建的八自由度机器人构形的运动学实例仿真,验证了该方法的可行性.
A new modeling method of the module is put forward, and the kinematics model of the robot can be built quickly by the new modeling method. The working position of the robot is decomposed into a limited number of configuration planes. By decomposing the plane configuration , The robot’s numerical inverse solution is found by matching the pose and position of the plane of the configuration.The feasibility of this method is verified by the simulation of a kinematic example of the configuration of a robot with eight degrees of freedom .