摘要
首先分析了一种七自由度冗余仿人手臂的运动学正问题 ,然后求解了其雅克比矩阵 ,最后基于分离速度控制法 ,利用求得的雅克比矩阵对其进行自运动分析实验。实验结果表明 ,分离速度法求运动学逆问题 ,本质上是一种速度积分方法 。
Kinematics positive problems was analyzed firstly upon a seven DOF redundant anthropomorphic arm, and then solved its Yacobi matrix, and finally based upon controlling method of segregation speed to carry out an analytical test on the arm's self-motion by the use of the obtained Yacobi matrix. The result of test shows that to solve kinematics inverse problem by segregation speed method is in essence a kind of speed integration method, and there exists value calculation errors.
出处
《机械设计》
CSCD
北大核心
2004年第8期29-32,共4页
Journal of Machine Design
