| RT一1蛇形柔体机器人的特点及逆运动学解 |
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| 引用本文： | 曹志奎,马培荪,卢长利.RT一1蛇形柔体机器人的特点及逆运动学解[J].上海交通大学学报,2000,34(10):1351-1354. |
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| 作者姓名： | 曹志奎 马培荪 卢长利 |
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| 作者单位： | 上海交通大学机械工程学院，上海 200030 |
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| 摘 要： | 基于一个电机驱动，计算机控制，特殊铰杆式同步万向节连接的６自由度柔性壁组成的ＲＴ－１柔体机器人，探讨了用迭代法求解６自由度柔性壁的逆运动学解，由位置、姿态结构分别进行综合，求逆，交替调用两部分的逆解／迭代求出整个逆运动学解θｉ，经编程运算，给出了实例结果。
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| 关 键 词： | 柔体机器人 柔性臂 轨迹规划 逆运动学解 |
| 文章编号： | 1006-2467(2000)10-1351-04 |
| 修稿时间： | 1999年4月22日 |
Research on RT-1 Snake-Like Flexible Robots'Character and Counter Solution |
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| CAO Zhi-kui,MA Pei-sun,LU Chang-li.Research on RT-1 Snake-Like Flexible Robots''Character and Counter Solution[J].Journal of Shanghai Jiaotong University,2000,34(10):1351-1354. |
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| Authors: | CAO Zhi-kui MA Pei-sun LU Chang-li |
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| Abstract: | This paper introduced the creative character of a flexible robot RT-1. On the base of 6R flexible arm, which is driven by a electrical motor, controlled by computer and connected by special synchromesh cardan joint, it researched on counter solution of 6R robot with alternation method. The place and posture structures are separately synthesized and inversed. Then the two parts' counter solutions are alternately called and iterated to get the inverse motion solution θi. The examples were also given. |
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| Keywords: | flexible robot flexible arm workspace orbitprogrammer |
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