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基于符号计算研究一类6-SPS并联机器人运动学正解问题
Alternative TitleTHE STUDY OF THE DIRECT KINEMATICS FOR A CLASS OF 6-SPS PARALLEL ROBOT BASED ON SYMBOLIC COMPUTATION
王奇志; 徐心和
Department中国科学院沈阳自动化研究所
Source Publication机器人
ISSN1002-0446
1999
Volume21Issue:2Pages:117-121
Indexed ByCSCD
CSCD IDCSCD:663741
Contribution Rank1
Funding Organization中国科学院机器人学开放研究实验室基金
Keyword并联机器人 运动学 符号计算
Abstract并联机器人运动学正解问题是一个重要而且难以解决的问题.本文利用符号计算工具,应用Dialytic消元法,对一类6-SPS并联机器人的运动学正解问题进行研究.得到一个变元多项式方程,给出了正解的解析解.在此基础上确定其工作空间,求出其解范围内全部实解.此种方法对于一般6-SPS同样适用
Other AbstractThe direct kinematics for parallel robot is important and difficult problem .In this paper the direct kinematics for a class of 6-SPS parallel manipulator is studied by symbolic computation approach and Dialytic elimination method.Lead to a polynomial equation in one variable.the analytic solutions of the direct kinematics are derived.Then the workspace determined.the all real solutions are 2iven.The method is it able to the direct kinematics of general 6-SPS。parallel manipulator.
Language中文
Citation statistics
Cited Times:2[CSCD]   [CSCD Record]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/15699
Collection沈阳自动化所知识产出(2000年前)
Affiliation1.东北大学信息科学与工程学院
2.中国科学院机器人学开放研究实验室
Recommended Citation
GB/T 7714
王奇志,徐心和. 基于符号计算研究一类6-SPS并联机器人运动学正解问题[J]. 机器人,1999,21(2):117-121.
APA 王奇志,&徐心和.(1999).基于符号计算研究一类6-SPS并联机器人运动学正解问题.机器人,21(2),117-121.
MLA 王奇志,et al."基于符号计算研究一类6-SPS并联机器人运动学正解问题".机器人 21.2(1999):117-121.
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