机器人基础考试试题重点(河南理工大学)资料-共15页

?s?i?c?i?s?c?c?ic?i?1i?1Ti??ii?1?s?is?i?1c?is?i?1?0?00?s?i?1c?i?10??dis?i?1?? dic?i?1??1??s?3c?3000?0?? 1L2??01?00ai?1有

?c?1?s?0T??11?0??0?s?10c?1000??1?000?1?,2T???01L1???01??00??c?3?s?0?1?d2?2?,T??33?0100???001??000故

?c?1c?3?s?c?130012?T?TTT?3123?s?3??0?c?1s?3?s?1s?3c?30s?1?c?100s?1L2?s?1d2??c?1L2?c?1d2??(写出最后

?L1?1?结果2分)

s?1?sin?1式中:c?1?cos?1

三连杆操作臂的逆运动学方程:

第一组解:由几何关系得

x?L2cos?2?L3cos(?2??3)(1) y?L2sin?2?L3sin(?2??3)(2) 将(1)式平方加(2)式平方得

2 x2?y2?L22?L3?2L2L3cos?3

由此式可推出

2?x2?y2?L2?2?L3?? ?3?arccos ??2L2L3???L3sin?3??y?? ?2?arctan???arctan? ??xL?Lcos???33??22第二组解:由余弦定理x2?y2?L22L3?2L2L3cos?,得

222?L2?2L3??x?y? ??arccos?? 222L2L3?? ?3'???? ?2'??-??y??arctan?? 2?x?7. 下面的坐标系矩阵B移动距离d=(5,2,6)T:

?0?1B???0??012?004??求该坐标系相对于参考坐标系的新位置。 0?16??001?0

解:

?1?0B???0??0?0?1???0??0010000105??2??6?1???????0100100?00010107??006??20?11?001??2?4??6??1

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