正运动学(Direct Kinematics)问题是指给出机械手各关节的位置、速度、加速度，求解各杆件的位置、姿态、速度、加速度等运动参数的问题，特别是求解机械手手臂...
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正向运动学 direct kinematics ; directforwardkinematics ; FK
运动学正问题 Direct Kinematic Problems ; DKP
运动学正解 Forward kinematics ; forward kinematics solution
并联机器人运动学正解 direct displacement of kinematics
The forward kinematics models involving wheel slips has been made on the basis of deriving wheel-soil interaction coordinate transform matrix and applying D-H coordinate transform matrix, velocity equations about the main body and wheels have been formed by Jacobian matrix.
应用考虑车轮滑移的轮地接触变换矩阵,并结合悬架的D—H变换矩阵,建立了该系统在三维地形中存在滑移运动的正运动学模型,进而推导了考虑滑移影响的运动速度雅克比矩阵,建立起车轮与主车体之间的运动速度关系。
参考来源 - 串联多关节悬架六轮月球车移动系统及其关键技术研究First, the D-H method is adopted to establish the robot's direct kinematics model, which avoid a large amount of inverse multiply operation of matrix.
首先采用D-H方法建立了该机械手的正运动学模型，避免了大量的矩阵求逆和乘法运算。
参考来源 - SCARA机械手自适应模糊控制研究Thirdly, analyse based on forward kinematics and inverse kinematics, some examples verify the existence of the mechanism and the correctness of formula deduction.
3)分别对机构进行正运动学和逆运动学分析，并通过算例验证机构的存在性和公式推导的正确性。
参考来源 - 曲柄—连杆混合驱动五杆机构的分析与综合·2,447,543篇论文数据，部分数据来源于NoteExpress
其次，提出了正运动学与逆运动学相结合的步态规划方法。
Secondly, put forward the walking planning idea combining forward kinematics with inverse kinematics.
用常规解法和D - H法分别推导了该机器人的正运动学方程。
The author derived kinematic equations of the Linemanrobot using conventional solutions and D-H method.
从而导出3 - R PR平面并联机构正运动学封闭形式解为一元六次方程。
The closed form solution of 3 RPR planar parallel mechanism was obtained. It is a 6 th degree equation in one variable.
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