陕西科技大学学报（自然科学版）2013，Vol.31Issue(4)：147-151,5.
基于向量法解决机器人正向运动学教学难题
To solve the forward kinematics of robotics based on method of vectors
摘要
Abstract
The configuration matrix of a rigid body relative to a fixed coordinate system has been derived based on the definition of vector; and then,the transformation matrix of a rigid body along an arbitrary axle in space has also been put forward; moreover,the essence of the left-hand and the right-hand multiplications of rigid body transformation with current configuration matrix of a rigid body has also been formulated; and finally the forward kinematic equation of a robot has been successfully presented with the right-hand multiplication of four matrices.These contents are not only inherent of the pre-courses engineering mathematics,but also embody and expand the application of this course,which reveals the important role that the engineering mathematics plays in the whole curricular system of engineering disciplines.关键词
向量/矩阵/机器人/正向运动学/教学法Key words
vector/ matrix/ robotics/ forward kinematics/ teaching method分类
计算机与自动化引用本文复制引用
荆学东..基于向量法解决机器人正向运动学教学难题[J].陕西科技大学学报（自然科学版）,2013,31(4):147-151,5.基金项目
上海应用技术学院校级本科重点课程建设项目(1020M120042) （1020M120042）
研究生课程建设项目(102YM120004) （102YM120004）
