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本文基于空间座标的4×4齐次变换矩阵,针对两种实用的3P—2R和3P—3R空间机构,推导了从末端操作器的位置和姿态求中间各运动副(包括移动副和转动副)位移的一般解析式,并对其实用性作了讨论。
Based on the 4 × 4 homogeneous transformation matrix of spatial coordinates, this paper derives the position of the end effector and the pose of each intermediate pair (including the moving pair and the rotating pair ) Displacement of the general analytical formula, and its practicality was discussed.