通过分析，得到了运动学逆解的解析公式。
Analytical expression of inverse solution for kinematics equation is solved.
智能登山法是一种新型的运动学逆解求取方法。
Intelligent hill climbing algorithm (IHCA) is a new way to solve the kinematic inverse solution.
探讨了BP网络在MOTOMAN机器人运动学逆解中的应用。
This paper discusses the application of the BP network in inverse kinematics of MOTOMAN manipulator.
讨论了3 -RSR并联机器人机构的结构特点及其运动学逆解等。
The structures of 3-rsr parallel robotic mechanism and its inverse kinematics solution are discussed.
本文在D -H齐次变换矩阵的基础上，对焊接机器人进行运动学逆解。
An inverse kinematics analysis of the designed welding-robot based on D-H displacement transformation matrix was put forward.
在粮仓取样机器人中，求运动学逆解的方法很多，但都比较繁琐，运算过程冗长。
In granary sampling robots, there are lots of methods solving inverse kinematics, but they are niggling and their operation procedures are lengthy.
建立了6自由度6-3-3并联机构的运动学逆解模型，给出了该机构奇异性判别矩阵。
First, the inverse kinematics of six DOF(degree of freedom) 6-3-3 parallel mechanism were modeled mathematically and the discriminant matrix about singularity of the parallel mechanism was derived.
以机器人运动学方程为基础，基于变换矩阵中旋转子矩阵正交的特性，提出一种6r机器人运动学逆解算法。
Based on the kinematics equation and the orthogonal character of the rotation sub-matrix in a transformation matrix, an approach to the inverse kinematics problem of 6r robots is proposed.
讨论了一种四自由度机器人运动学模型的建立问题，在此基础上给出了该机器人运动学正解和运动学逆解的简化求解方法，简化了求解过程，大大减少了计算量。
The paper introduces kinematics modeling for a kind of four degrees of freedom robot and gains the robots forward kinematics and inverse kinematics by using a simplified method based on this.
本文提出了一种具有球形腕的冗余度机器人逆运动学实时解的新方法。
A new method is presented for real -time inverse kinematics of redundant manipulators with spherical wrist.
然后，本文探讨了机器人运动学正逆解求解方法和伺服电机控制算法，详细地讨论了其中的PID算法。
Then the paper discusses method of robot's kinematics and inverse kinematics and robot's control arithmetic mostly about PID control.
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.
重点分析了3-DOF并联微纳操作器的运动学正解和逆解，推导出了运动学正解的雅可比矩阵。
The forward and inverse kinematics solutions of a 3-DOF parallel micro-nano manipulator were emphatically analyzed, and the Jacobi matrix of kinematics forward solution was derived.
建立了机构的运动学正逆封闭解方程、作业空间解析解和速度传递方程。
Closedform solutions were developed for the inverse, the direct kinematics, the workspace limits and the velocity matrix.
给出了机器人的运动学正解和逆解，提出了一套机构简化方案，完成了机器人的各种手臂姿态规划，分析了存在的运动干涉约束。
The forward kinematics solution and inverse kinematics solution are given and a set of robot mechanism simplification procedures are put forward.
对HP99型堆垛机器人进行了正运动学和逆运动学问题的分析，分别求出了正运动学解和逆运动学解。
This paper analyses the verse and inverse kinematics of HP99 stacker robot and solves these two problems.
SCARA运动学的研究中，以旋量，李群李代数为基础的POE指数积法求解运动学正解，逆解以及速度雅可比。
In the study of SCARA's kinematics, POE is used to obtain positive, inverse and jacobian solution, based of screw, Lie groups and Lie algebra.
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.
这就意味着对每一小段，都必须计算新的逆运动学解。
It means computer must complete a counter—calculation for every segment.
这就意味着对每一小段，都必须计算新的逆运动学解。
It means computer must complete a counter—calculation for every segment.
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