摘要
采用优化方法求解一般并联机械手运动学正问题，其方法简单实用，不需要复杂的公式推导，对初始值也没有什么要求，对于一般的并联机械手都可以求出其最优解．
This paper deals with the direct position kinematic problem of a general pa rallel manipulator using an optimization method. Without complex formular deduction and without restricting starting point, this method is effective to all parallel manipulators. This new theoretical result is confirmed by numerical examples.
出处
《应用科学学报》
CAS
CSCD
1998年第4期392-396,共5页
Journal of Applied Sciences
关键词
并联机械手
运动学正问题
乘子法
优化法
机械手
parallel manipulator, direct position kinematic problem, optimization, multiplier
