正向运动学模型采用了一种基于空间几何法的快速计算法。
Forward kinematics model is set up based on solid geometry by a rapid calculate method.
运用正向运动学模型，根据PWLER各驱动轮的转速可估算出机器人相对于绝对坐标系的位置和姿态。
The robotic forward kinematics model can estimate the position and orientation of the PWLER robot relative to the world coordinates using each driving wheel's rotational velocity of the robot.
仿真结果表明：这种方法对于求解仿人型跑步机器人的正向运动学和逆向运动学问题，具有求解速度快、精度高等优点。
Simulation results show that this method has an advantage of high speed and high-precision for the forward kinematics and the inverse kinematics of the running robot.
本文从分析真实马的运动出发，运用关节动画的正向运动学原理，首次对马的运动进行了初步的研究，并制作了马各种运动的动画片。
This paper describes a horse animation study using forward kinematics based on the analysis of a real horse motion. We created a piece of animation for several of kinds of horse motions.
提出了利用齐次变换矩阵和正向、逆向运动学相结合的误差计算方法以及相应的误差补偿策略；
The error calculating method using the homogeneous coordinate transformation matrix together with forward and inverse kinematics and the corresponding error compensation strategies were proposed.
基于正向雅克比矩阵分析了各自由度之间的运动学耦合性。
The direct kinematics and inverse kinematics are obtained by using geometrical approach and the workspace is analyzed.
基于正向雅克比矩阵分析了各自由度之间的运动学耦合性。
The direct kinematics and inverse kinematics are obtained by using geometrical approach and the workspace is analyzed.
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