h matrix, a geometrical closed-form inverse kinematic method, utilizing the product of exponentials (poe) formula of direct kinematics mapping, is proposed based on screw theory.
参数建模方法的不足,基于旋量理论,提出了利用机器人运动学正解映射的指数积公式构造运动学逆解问题的几何算法。
the direct kinematics and inverse kinematics are involved. the hopping law of hip joint, the center of the truck and the toe of kangaroo are presented and discussed.
应用矩阵乘逆法进行了相应两个阶段的逆运动学分析,给出了各个关节角的解析表达式;
the direct kinematics and inverse kinematics are obtained by using geometrical approach and the workspace is analyzed.
基于正向雅克比矩阵分析了各自由度之间的运动学耦合性。
this paper presents a general solution to the direct kinematics of planar three-freedom parallel mechanism.
文章分析了一般结构尺度的平面三自由度并联机构的正解。
it's difficult to solve the direct kinematics of a parallel machine tool(pmt), which will deal with nonlinear function set.
并联机床运动学正解问题由于涉及到求解非线性方程组问题而不易解决。