...样本库生成最终理想姿态的估计值并用作PIK算法所需的初始参考姿态,然后利用PIK算法对所有任务约束按优先级顺序进行逆向运动学(IK,Inverse Kinematics)迭代求解,实现全身姿态的进一步优化生成。
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However, there is bottle-neck in its practical application, mostly on the working space, and the direct kinematics. Where the practical application in engineering is concerned, the theory foundation of Stewart platform is based on inverse kinematics.
就工程方面的实际应用而言，Stewart机构的理论基础是建立在逆向运动学上的。
参考来源 - 六自由度飞行模拟器运动平台仿真·2,447,543篇论文数据，部分数据来源于NoteExpress
为了实现人体运动建模，提出一种新颖的基于人体关节约束的实时逆向运动学算法。
A novel inverse kinematics algorithm based on the human constrained joints for real-time human motion modeling is proposed.
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.
提出了坐标变换、三角变换等方法，巧妙求解出拟人机器人TH - 1手臂逆向运动学的解析表达式。
Coordination transform, triangle transform, etc are proposed to successfully derive the inverse kinematics analytic equations for the humanoid robot th 1 arms.
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