摘要
矩阵是研究机器人学一个重要的数学工具。本文引入齐次变换矩阵来表示机器人的姿态。具体来说,研究者在机器人的每个关节建立适当的坐标系,然后利用齐次坐标建立两个相邻坐标系之间的变换关系,最后就可以得到机器人的运动学方程。
Matrix is an important mathematical tool for robotics.In this paper,homogeneous transformation matrix was introduced to represent the pose of robot.To be specific,researchers established a proper coordinate system for each joint of the robot,and then used homogeneous coordinates to establish the transformation relationship between two adjacent coordinate systems,and then the kinematics equation of the robot was obtained.
作者
刘锋
LIU Feng(Hunan Institute of Technology,Hengyang Hunan 421002)
出处
《河南科技》
2020年第28期22-24,共3页
Henan Science and Technology
关键词
机器人
运动学
旋转矩阵
齐次变换
robot
kinematics
rotation martrix
homogeneous transformation matrix
