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THE STUDY OF THE DIRECT KINEMATICS FOR A CLASS OF 6-SPS PARALLEL ROBOT BASED ON SYMBOLIC COMPUTATION
Author(s): WANG Qizhi, XU Xinhe
Pages: 117-
120
Year: 1999
Issue:
2
Journal: ROBOT
Keyword: 并联机器人; 运动学; 符号计算;
Abstract: 并联机器人运动学正解问题是一个重要而且难以解决的问题.本文利用符号计算工具,应用Dialytic消元法,对一类6-SPS并联机器人的运动学正解问题进行研究.得到一个变元多项式方程,给出了正解的解析解. 在此基础上确定其工作空间,求出其解范围内全部实解.此种方法对于一般6-SPS同样适用.
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