东北林业大学学报
東北林業大學學報
동북임업대학학보
JOURNAL OF NORTHEAST FORESTRY UNIVERSITY
2009年
12期
115-121
,共7页
巡线机器人机构%运动学方程%运动学反解%计算机仿真
巡線機器人機構%運動學方程%運動學反解%計算機倣真
순선궤기인궤구%운동학방정%운동학반해%계산궤방진
Mechanism of inspection robot%Kinematic equations%Inverse kinematic solutions%Computer simulation
分析巡线机器人机构的位置和姿态结构特点,建立该机构的各连杆坐标系,并在此基础上建立运动学方程.根据末端执行器位置矢量和姿态转换矩阵,采用反变换法求解该机器人机构的运动学反解,并运用计算机仿真的方法进一步验证了该反解的准确性.
分析巡線機器人機構的位置和姿態結構特點,建立該機構的各連桿坐標繫,併在此基礎上建立運動學方程.根據末耑執行器位置矢量和姿態轉換矩陣,採用反變換法求解該機器人機構的運動學反解,併運用計算機倣真的方法進一步驗證瞭該反解的準確性.
분석순선궤기인궤구적위치화자태결구특점,건립해궤구적각련간좌표계,병재차기출상건립운동학방정.근거말단집행기위치시량화자태전환구진,채용반변환법구해해궤기인궤구적운동학반해,병운용계산궤방진적방법진일보험증료해반해적준학성.
The feature of the position and pose structure of inspection robot is analysed, and a coordinate system for each link is also established. Based on this, kinematic equations are constructed. An inverse kinematic solution is achieved by means of the inverse transformation method according to the position vector and position transformation matrix. The computer simulation results show that the inverse solution is accurate.
