论文部分内容阅读
新型便携式机器人为６自由度机器人，具有一个移动关节和５个转动关节，适用于水轮机叶片现场修复工作．给出了这种机器人逆运动学的求解方法，避免了大量逆矩阵相乘，方法简单．
The new portable robot is a 6-DOF robot with a moving joint and five rotating joints for on-site repairing of turbine blades. The method of solving the inverse kinematics of the robot is given, avoiding the multiplication of a large number of inverse matrices. The method is simple.