六自由度局部闭链操作臂逆运动方程的一种新解法

摘要

A new solution for inverse kinematics equation of 6 DOF robotic manipulator wi th local closed chain is presented. It is based on the D-H model and doesnt n eed to change the coordinates of manipulator and effector. Additionally it avoid s much inverse matrices multiplication in the course of deduction. So it is simp le and suitable for simulation and control.%给出了机器人逆运动问题中六自由度局部闭链操作臂逆运动方程的一种新解法．该 方法是基于D-H方法模型，在求解中只需一次逆乘，不需要对操作臂末端位姿进行坐标变换 ，避免了大量的逆矩阵相乘运算，便于编程和控制．