After an introductiou of the Plucker coordinate geometry, a discussion is made of the expression of screws in Plucker coordiuates and the addition of screws’ As a result, the geometry or geuerating gears is re-studie...After an introductiou of the Plucker coordinate geometry, a discussion is made of the expression of screws in Plucker coordiuates and the addition of screws’ As a result, the geometry or geuerating gears is re-studied and a formula is derived for calculating the axode leugth or hypoid gears’展开更多
According to the theory that rotation transformation from the basecoordinate to an arbitrary one can be described by a single equivalent rotation about agiven rotational axis,it is proposed that the orientation of rob...According to the theory that rotation transformation from the basecoordinate to an arbitrary one can be described by a single equivalent rotation about agiven rotational axis,it is proposed that the orientation of robot can be described by usingthe vector of equivalent angular displacement.And the concept of pose motor and itsPlücker linear coordinate are established and used to describe the position and orientationof robot.Based on the fact that there is a one-to-one correspondence between the ori-ented straight lines in three-dimensional dual space,the interpolation plannings corre-sponding to the pose motors are developed in dual space.A new algorithm of robot CPmotion trajectory planning is presented.The correctness of the theory and derivation isconformed by an example.展开更多
文摘After an introductiou of the Plucker coordinate geometry, a discussion is made of the expression of screws in Plucker coordiuates and the addition of screws’ As a result, the geometry or geuerating gears is re-studied and a formula is derived for calculating the axode leugth or hypoid gears’
文摘According to the theory that rotation transformation from the basecoordinate to an arbitrary one can be described by a single equivalent rotation about agiven rotational axis,it is proposed that the orientation of robot can be described by usingthe vector of equivalent angular displacement.And the concept of pose motor and itsPlücker linear coordinate are established and used to describe the position and orientationof robot.Based on the fact that there is a one-to-one correspondence between the ori-ented straight lines in three-dimensional dual space,the interpolation plannings corre-sponding to the pose motors are developed in dual space.A new algorithm of robot CPmotion trajectory planning is presented.The correctness of the theory and derivation isconformed by an example.
