Analysis of Inverse Kinematics about Stanford Robot Based on Screw Theory
Based on screw theory, the inverse solution of Stanford robot movement was solved by adoptting the method of Paden?Kahan subproblems according to the structural feature of Stanford robot joints. The research shows that the multi?joint coupling variables is eliminated, the amount of calculation is greatly simplified, the calculation accuracy is high by the method, and a new method is pro?vided for solving the kinematics inverse solution of the Stanford robot.
NETL
NSTL
万方数据
维普
