西安电子科技大学学报（自然科学版）2008，Vol.35Issue(1)：175-182,8.
新型可重构机器人逆运动学的研究
Inverse kinematic research based on a new type of reconfigurable robot
摘要
Abstract
The complicated work configurations of reconfigurable robots make it quite difficult to solve the problem of inverse kinematics, which directly affects the real time control and application of reconfigurable robots. In this paper, a new modular modeling method is proposed, and by using this new method, the kinematical model for a robot can be built immediately. This is a method that decomposes the work configurations of a robot at the target position into finite configuration planes, and by describing the workspace of these configuration planes, the orientations and positions of these planes can be matched to find the numerical solutions to a robot. The applicability of this method is proved through the kinematical simulation of an eight DOF robot built using elementary modules.关键词
模块机器人/可重构机器人/逆运动学/构形平面Key words
modular robot/ reconfigurable robot/inverse kinematics/configuration plane分类
信息技术与安全科学引用本文复制引用
魏延辉,赵杰,朱延河,蔡鹤皋..新型可重构机器人逆运动学的研究[J].西安电子科技大学学报（自然科学版）,2008,35(1):175-182,8.基金项目
"863"计划支持项目(2006AA04Z220) （2006AA04Z220）
长江学者和创新团队发展计划资助(IRT0423) （IRT0423）
