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本文利用空间几何与矩阵变换结合的方法,解决仿人手型机械手臂的位置逆算法,推导出求解各关节角的解析公式。该算法计算量小,算法稳定、精确,可以满足实时,连续轨迹控制的要求。
In this paper, the method of combining spatial geometry and matrix transformation is used to solve the position inversion algorithm of humanoid hand manipulator and the analytical formula for solving each joint angle is deduced. The algorithm has a small amount of computation and the algorithm is stable and accurate, which can meet the requirements of real-time and continuous trajectory control.