| 5 自由度机器人操作器运动学逆问题的解析解 |
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| 引用本文： | 程远雄,傅祥志,廖道训.5 自由度机器人操作器运动学逆问题的解析解[J].华中科技大学学报(自然科学版),1990(Z3). |
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| 作者姓名： | 程远雄 傅祥志 廖道训 |
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| 作者单位： | 华中理工大学机械工程一系
(程远雄，傅祥志)，华中理工大学机械工程一系(廖道训) |
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| 摘 要： | 为求解5自由度机器人操作器的运动学逆问题,本文提出了一个完整的简化求解方程组,并利用此方程组求得具有解析解的5自由度操作器的8类结构形式及具有球型手腕的6自由度操作器的运动学逆问题的解析解.
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| 关 键 词： | 机器人操作器 运动学逆问题 解析解 5自由度 球型手腕 |
A Closed Form Solution for the Inverse Kinematic Problem of a Robotic Manipulator with Five DOF |
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| Cheng Yuanxiong,Fu Xiangzhi,Liao Daoxun.A Closed Form Solution for the Inverse Kinematic Problem of a Robotic Manipulator with Five DOF[J].JOURNAL OF HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY.NATURE SCIENCE,1990(Z3). |
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| Authors: | Cheng Yuanxiong Fu Xiangzhi Liao Daoxun |
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| Affiliation: | Cheng Yuanxiong Fu Xiangzhi Liao Daoxun |
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| Abstract: | To solve the inverse kinematic problem of a manipulator with five degrees-of-freedom, a complete but simplified set of equations is proposed. The analytic solutions for an 8-structure type of the robotic manipulator with five DOF and the closed-form inverse solutions for the manipulator with six DOF and with spherical wrist are found. |
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| Keywords: | Robotic manipulator Inverse kinematic problem Closed-form solution Five degrees-of-freedom Spherical wrist |
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