同伦算法在并联机器人运动学中的应用

董滨; 张祥德

同伦算法在并联机器人运动学中的应用

董滨¹,
张祥德²

1.
东北大学数学系, 沈阳, 110006;
2.
中国科学院机器人学开放研究实验室, 沈阳, 110003

基金项目: 国家自然科学基金资助项目(19701006);教育部普通高等学校骨干教师资助计划;辽宁省、沈阳市科学基金资助项目

详细信息

作者简介:
董滨(1969- ),女,哈尔滨人,讲师,硕士,研究方向为非线性方程组求解.

中图分类号: TP24
计量
- 文章访问数: 2281
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- 被引次数: 0
出版历程
- 收稿日期: 1999-05-05
- 修回日期: 2001-06-26
- 刊出日期: 2001-12-15

Continuation Method Applied in Kinematics of Parallel Robot

DONG Bin¹,
ZHANG Xiang-de²

1.
Department of Mathematics, Northeastern University, Shenyang 110006, P. R. China;
2.
Robot Open Laboratory of Science Institute of China, Shenyang 110003, P. R. China

摘要

摘要: 讨论同伦算法求解并联机器人运动学正问题.通过参系数同伦法大大减少了跟踪路径的数目,从而提高了同伦算法的效率使之对求解一般非线性代数方程组更为可行.采用这一算法,求出了中科院沈阳自动化研究所机器人开放研究实验室的新型并联机器人模型的全部正解.为新模型的机构分析和实时控制提供了理论依据.
- 同伦算法 /
- 并联机器人运动学 /
- 一般同伦法 /
- 参系数同伦法
Abstract: Continuation method solving forward kinematics problem of parallel robot was discussed. And through a coefficient-parameter continuation method the efficiency and feasibility of continuation method were improved. Using this method all forward solutions of a new parallel robot model which was put forward lately by Robot Open Laboratory of Science Institute of China were obtained. Therefore it provided the basis of mechanism analysis and real-time control for new model.
- continuation method /
- parallel robot kinematics /
- generic continuation /
- coefficient-parameter continuation

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参考文献(12)

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