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基于倍四元数的缝纫机器人运动学分析
Authors
吴楠
王晓华
闫鑫
马丽萍
Publication date
1 January 2020
Publisher
Editorial Office of Journal of Mechanical Transmission
Doi
Cite
Abstract
针对传统D-H法以及旋量法进行机器人运动学分析过程中存在运算效率低、奇异性的问题,采用倍四元数求解了缝纫机器人的运动学参数。建立倍四元数形式的缝纫机器人的运动学方程,应用消元法构造Dixon结式,实现运动学参数求解。在受限工作范围内进行运动学分析仿真,结果表明,该方法运算效率高,较D-H法在速度上提高了10%左右,可为机器人纺织缝纫过程中的运动控制提供理论依据
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Last time updated on 06/04/2023