摘要
基于旋量理论的运动学分析方法比采用传统的D-H方法更加简化.以一种常见的开链机器人Stanford臂为例,利用运动旋量和指数积等数学工具建立了运动学方程,求出了雅可比矩阵,为建立其动力学方程、控制方法及运动规划做了必要的准备.
The method of kinematics analysis based on screw theory is simpler than the traditional D-H method.Illustrating with Stanford arma,popular opened chain robott,he kinematics equation and Jacobian matrix of the robot were obtained by the mathematic tools—twist,product of exponentialse,tc.The method is beneficial to establishing the dynamic equation,control method and motion planning.
出处
《天津科技大学学报》
CAS
2010年第4期72-75,共4页
Journal of Tianjin University of Science & Technology
基金
天津科技大学自然科学研究基金资助项目(20070205)
关键词
旋量理论
指数积公式
运动学方程
雅可比矩阵
screw theory
product of exponentials formula
kinematics equation
Jacobian matrix
