CAJ | 학술논문

针对5自由度飞机表面清洗机器人，通过旋量和指数积公式求解了运动学正解，得出末端执行器相对惯性坐标系的位形。采用运动螺旋求解了运动学正解的雅可比矩阵，为机构的奇异性、实时控制、可操作性的研究提供了理论基础。
침대5자유도비궤표면청세궤기인，통과선량화지수적공식구해료운동학정해，득출말단집행기상대관성좌표계적위형。채용운동라선구해료운동학정해적아가비구진，위궤구적기이성、실시공제、가조작성적연구제공료이론기출。
Focusing on 5-DOF cleaning robot for aircraft surfaces,the screw theory and exponen-tials formula are used for the forward kinematics solution of robot.And the configuration of the end-effector relative to inertial coordinate frame was obtained.Besides,Jacobian matrix of for-ward kinematics is obtained by the twists,which establishes a basis of singularity of mechanism, future real-time control,and manipulability.