一般6R机器人的位置逆解具有非常重要的理论与实际意义。
The inverse kinematics of general 6R serial robot is a central problem in theory and practice.
六自由度串联机械手的位置逆解问题一直是机器人学研究领域的难点和热点之一。
The inverse kinematics of 6 DOF manipulator is one of the main concerns and difficult problem in robotics.
利用旋量理论和指数积方法求解了6 -PRRS并联机构主动关节与被动关节的位置逆解。
Based on screw theory and exponential product method, the inverse kinematics of the passive and active joints of the 6-prrs parallel robot was resolved.
推导了该车铣复合加工中心的定杆长并联机构3-PRS的位置逆解、位置正解和被动关节求解算法；
This paper solves the positive position solution , the inverse position solution and the passive joints solution of the fixed length 3-PRS parallel mechanism of the machine tool;
运动学位置正解和位置逆解是对并联机器人其它性能进行分析的基础，位置正解也是并联机器人研究中的一个难点。
The forward displacement and inverse displacement analysis in kinematics is the foundation for analyzing other performances of a parallel platform manipulator.
本文取得如下成果：借助矢量法、约束方程和动能定理分别构造出机械手的位置逆解模型、速度雅克比矩阵、质量惯性矩阵。
With the aid of vector method, constraint equation, kinetic energy consideration, the inverse position model, Jacobian matrix and mass matrix have been developed.
对平面二自由度五杆机构的位姿形式及位置逆解进行分析之后，提出了用二自由度辅助机构进行全铰链五杆轨迹机构综合的方法。
A method that USES two degrees of freedom (DOF) auxiliary mechanisms to path synthesize a five-bar mechanism was presented after analyzing the posts and inverted solutions of the five-bar mechanism.
机器人位置问题正解采用齐次变换矩阵法解算，逆解采用只保证位置的插值算法。
The positive algorithm of robot positions is solved by the same power transformation matrix method, while the negative algorithm adopts interpolating method ensuring the position only.
推导了并联机床位置、速度逆解模型，设计了面向该并联机床的CNC系统方案。
Inverse displacement analysis model and inverse kinematic analysis model are derived, scheme of CNC system for PMT is designed.
该方法使障碍回避过程不再依赖于运动学优化，将冗余度机械臂转化为非冗余度机械臂，直接给出位置形式的逆解。
The approach implements collision avoidance without kinematics optimization and converts the arm into a non-redundant structure to directly calculate its inverse kinematics.
分析混联机械手的位置正、逆解问题。
The inverse and forward position problems of the hybrid robot are formulated.
用简易坐标投影法计算了其位置分析的正、逆解析解。
The forward and inverse analytical solutions of its positional analysis were computed by the use of simple and easy coordinative projection.
第二页：使用了逆解拉普拉斯变换，来计算作为位置阶跃变化的时间函数的象征响应。
Thesecond page uses the inverse Laplace transform to compute the symbolic responseto a step change in position as a function of time.
分析了一种三杆五自由度并联机床机器人运动学问题，给出了其运动学正逆解位置方程，并对并联机床的速度及加速度求解进行了定性分析。
The degree of a 3-legged in parallel kinematics machine tool is analyzed. Its positive and inverse kinematics is presented and its velocity and accelerate were qualitative analyzed.
分析了一种三杆五自由度并联机床机器人运动学问题，给出了其运动学正逆解位置方程，并对并联机床的速度及加速度求解进行了定性分析。
The degree of a 3-legged in parallel kinematics machine tool is analyzed. Its positive and inverse kinematics is presented and its velocity and accelerate were qualitative analyzed.
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