摘要
对于只含 (或简化后只含 )R ,P ,C和H副的串联机械手 ,已知运动副类型和相应的机构参数等信息 ,在计算机上用完全有效元素法自动生成其矩阵形式的位姿方程 ,通过三角变换进一步自动建立由 9个以上多项式方程组成的多项式方程组 ,并采用m≥n的结式消元法求解。本文的特点是完全利用了位姿矩阵方程中的 9个有效元素 ,所得解即为机械手的运动学解 ;用m≥n的结式消元法消元得到便于求解的三角型组 ,并用计算机一次完成了方程组的建立和求解。
For a series manipulator which contains (or after simplification contains) R?P?C and H kinematic pair,a method of entire available elements is employed to create position and pose equations in the form of matrix automatically by computer with acknowledged information of 'the types of kinematic pairs and corresponding framework parameters etc.' Then triangle transform is used to create a polynomial system of over 9 equations, of which solution is obtained by the method of elimination by eliminant for m≥n. The characteristics of the method are that all the 9 available elements in the position and pose matrix equations are used to obtain the manipulator's kinematics solution;the method of elimination by eliminant for m≥n is efficient to get a easily-soluted triangular polynomial set; furthermore, the establishment and solution of polynomial system of equations are all performed by computer at the same time. The method used in this thesis is of both theoretical and practical value.
出处
《上海海运学院学报》
北大核心
2002年第4期44-49,共6页
Journal of Shanghai Maritime University
