机器人逆运动学的系统方法

1990 IEEE International Conference on Systems Engineering Pub Date : 1990-08-09 DOI:10.1109/ICSYSE.1990.203209

J. Wu

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引用次数: 3

摘要

提出了一种系统的求解运动学逆问题的方法。该方法可以快速识别逆运动学问题的复杂性，并比传统方法更容易地找到解。通过实例说明了所提方法的实现。该方法采用了矩阵指数和簇节点的概念

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A systematic approach to robot inverse kinematics

A systematic approach to solving the inverse kinematics problem is presented. This approach identifies the complexity of an inverse kinematics problem quickly and then finds the solution more easily than conventional methods. Examples are given to demonstrate the implementation of the proposed approach. The approach employs the matrix exponential and the concept of cluster joints

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来源期刊

1990 IEEE International Conference on Systems Engineering

自引率

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