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ARMS KINEMATICS ON A HUMANOID ROBOT TH-1
Author(s): 
Pages: 502-507
Year: Issue:  6
Journal: ROBOT

Keyword:  拟人机器人手臂运动学仿真;
Abstract: 拟人机器人手臂的主要特点是它的运动功能,能够实现握手、行走时掌握平衡等动作.本文主要针对自行设计的具有转摆结构的拟人机器人TH-1手臂机构进行了运动学分析,为其控制提供数学基础.提出了坐标变换、三角变换等方法,巧妙求解出拟人机器人TH-1手臂逆向运动学的解析表达式.建立了仿真软件平台,验证了运动学正逆向方程的有效性.
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