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对SSRMS类型冗余操纵器的反向动力学分析解决方案

Li Qin1,2, Xiao Wei3, Liangliang Lv1

  • 1Shanghai Institute of Aerospace System Engineering, Shanghai 201109, China.

Sensors (Basel, Switzerland)
|July 8, 2023
PubMed
概括

这项研究为7DOF冗余操纵器的逆动力学提供了一个有效的分析解决方案,解决了自动运动的无限解决方案. 该方法将问题分解为平面子问题,为机器人操纵器提供多达16个解决方案.

关键词:
算法 奇点 奇点的算法分析溶液的分析方法反向动力学是一种反向动力学.没有多余的操纵器.

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