| 一种求解PUMA机械手运动学逆问题的分解解法 |
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| 引用本文： | 戴齐,姚先启.一种求解PUMA机械手运动学逆问题的分解解法[J].西南交通大学学报,1989(4). |
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| 作者姓名： | 戴齐 姚先启 |
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| 摘 要： | 本文提出了一种新的求解机械手运动学逆问题的分解解法,它是对现有的代数解法和几何解法的综合。文中结合PUMA机械手对该解法作了具体阐述。
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| 关 键 词： | PUMA机械手 运动学逆问题 |
A Resolution Method of Solving the Inverse Kinematic Problems of PUMA Manipulators |
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| Dai Qi,Yao Xianqi.A Resolution Method of Solving the Inverse Kinematic Problems of PUMA Manipulators[J].Journal of Southwest Jiaotong University,1989(4). |
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| Authors: | Dai Qi Yao Xianqi |
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| Institution: | Dai Qi;Yao Xianqi |
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| Abstract: | By combining the algebraic method and geometric method, a new resolution method for solving the inverse kinematic problems of manipulators is presented, with PUMA manipulator given as an example. |
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| Keywords: | PUMA manipulator inverse kinematic problem |
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