摘要
本文推证了一组刚体旋转矩阵与用速度矢的新等式．以该组等式为基础，文中提出并讨论了一种利用旋转矩阵的导数矩阵分析机器人运动的方法．所提方法在文中的运用表明，它可以取代以往过于繁琐的图解法和递推法，成为一种简明有效的机器人运动分析方法，作为该法应用结果，文中给出了由ｎ个杆件构成的ｎ个自由度机器人雅可比矩阵的一种简明封闭式，具有一定实用价值，这里的方法可作为一般刚体运动分析理论的补充．
A new set of equations of rotation matrices and angular velocity vectors of rigid bodies have beenproved in this paper.We have presented and discussed a method of kinematic analysis for robots by using thederivative matrices of their rotation matrices,which is based on the set of proved equations,The use of themethod in the paper shows that it can replace the conventional,too complex method of diagram of recurrenceas a concise one of kinematic analysis for robots,As a result of using the method,we have given a conciseclose form of expressing of Jacobian matrix for a general robot that conslsts of n links and has n degrees ofpositional freedom,which is of certain value,The presented method here can be generally regarded as a sup-plement of the theory of kinematic analysis for rigid bodies.
出处
《机器人》
EI
CSCD
北大核心
1994年第5期257-263,共7页
Robot
关键词
机器人
旋转矩阵
运动分析
Robot,rigid bodies,rotation matrices,kinematic analysis
