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1983年12月国际机器理论与机构学联合会(IFTOMM)在印度新德里召开了第六届国际机器理论与机构学会议。收进会议论文集有关机器人方面的论文共36篇。大致可分为:1.机器人运动学方面12篇;2.机器人动力学与控制系统方面10篇;3.具体结构与装置方面10篇;4.应用方面4篇。下面就这四方面的论文作初步的介绍,供读者参考。一.机器人运动学研究机器人工作空间的方法大致可分为两类:1.分析法,例如根据奇异位置来确定边界轮廓等;2.数值法,文〔3〕提出一种数值方法,可以逐点计算工作空间,并对给定点的接近角等都能进行计算。文〔2〕用计算机图学对工作空间进行了研究。利用空
December 1983 The 6th International Symposium on Machine Theory and Mechanics was held in New Delhi, India, by the International Federation of Machine Theory and Mechanics (IFTOMM). Entered the Proceedings Proceedings A total of 36 papers on the robot. Can be divided into: 1 robot kinematics 12; 2 robot kinematics and control systems 10; 3 specific structure and device 10; 4 applications 4. The following four aspects of the paper for a preliminary introduction for readers reference. 1. Robot kinematics Research robot working space methods can be broadly divided into two categories: 1. Analytical method, for example, to determine the boundary contour according to the singular position; 2. Numerical method, [3] proposed a numerical method, you can Calculate the workspace, calculate the approach angle of a given point, and so on. Wen 〔2〕 using computer graphics to study the work space. Use empty