一种分支型模块化机器人的运动学建模研究
he Kinematics Analysis of a Branch-type Modular Robot
对机器人进行运动学建模是轨迹规划与任务控制的基础。本文介绍了基于旋量理论的正运动学建模方法，并基于此方法针对一种分支型模块化机器人进行了运动学建模。相比于D-H法，旋量方法更加直观、简洁。利用仿真实例验证了算法的正确性,结果表明旋量理论可以有效地应用于分支型模块化机器人的运动学建模。
he research on robot kinematics is the basis of path planning and task controlling. The forward kinematics modeling method based on the screw theory is introduced and the kinematics model of a branch-type modular robot is built. Compared with the traditional D-H method, the present method is intuitive and simple. The simulation result indicates the correctness of the kinematics algorithm, and the screw theory can be used to build the kinematics model of a branch-type modular robot.
陈钢、贾庆轩、左仲海
自动化基础理论机械学机电一体化
工业机器人技术分支型模块化机器人运动学旋量理论
Industrial Roboticsbranch-type modular robotkinematicsscrew theory
陈钢,贾庆轩,左仲海.一种分支型模块化机器人的运动学建模研究[EB/OL].(2014-12-30)[2025-08-23].http://www.paper.edu.cn/releasepaper/content/201412-983.点此复制
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