| 巡线机器人机构的运动学反解与仿真 |
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| 引用本文： | 李三平,吴功平,肖晓晖.巡线机器人机构的运动学反解与仿真[J].东北林业大学学报,2009,37(12). |
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| 作者姓名： | 李三平 吴功平 肖晓晖 |
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| 作者单位： | 1. 东北林业大学,哈尔滨,150040
2. 武汉大学 |
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| 摘 要： | 分析巡线机器人机构的位置和姿态结构特点,建立该机构的各连杆坐标系,并在此基础上建立运动学方程.根据末端执行器位置矢量和姿态转换矩阵,采用反变换法求解该机器人机构的运动学反解,并运用计算机仿真的方法进一步验证了该反解的准确性.
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| 关 键 词： | 巡线机器人机构 运动学方程 运动学反解 计算机仿真 |
Inverse Kinematic Solution and Simulation of Inspection Robot Mechanism |
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| Li Sanping,Wu Gongping,Xiao Xiaohui.Inverse Kinematic Solution and Simulation of Inspection Robot Mechanism[J].Journal of Northeast Forestry University,2009,37(12). |
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| Authors: | Li Sanping Wu Gongping Xiao Xiaohui |
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| Institution: | Li Sanping(College of Mechanical , Electrical Engineering,Northeast Forestry University,Harbin 150040,P.R.China),Wu Gongping,Xiao Xiaohui(Wuhan University) |
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| Abstract: | The feature of the position and pose structure of inspection robot is analysed,and a coordinate system for each link is also established.Based on this,kinematic equations are constructed.An inverse kinematic solution is achieved by means of the inverse transformation method according to the position vector and position transformation matrix.The computer simulation results show that the inverse solution is accurate. |
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| Keywords: | Mechanism of inspection robot Kinematic equations Inverse kinematic solutions Computer simulation |
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