计算机器人正反运动学方程,机器人运动学正解的新算法

摘要：

Calculation of the position and posture in robots is one among the basic elements in the study of robotic mechanisms. Many principles and methods of calculation have thus far appeared both domestically and abroad,yet all shearing the common drawback of being too complicated. The authors have suggerted two methods, aimed at a simplification of the process. On its basis the authors seek to further simplify it, utilizing the concept of similar complex vector matrices and its special form —the based similar complex vector matrices, so that all the necessary calculations in robotic movements can be resolved with very simple mathematical manipulations.

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