欢迎访问《图学学报》 分享到：
图学学报

图学学报

• 数据与信息可视化 • 上一篇    下一篇

上假肢运动学逆解可视化研究

  

  • 出版日期:2011-02-25 发布日期:2015-08-12

The Visualization Research of Artificial Upper Limbs Inverse Kinematics Resolution

  • Online:2011-02-25 Published:2015-08-12

PDF (PC)

258

被引次数

2

摘要： 针对上假肢的结构特点，提出用机构运动等同性条件和代数法相结合的方法来解决上假肢运动关节变量的逆解问题，以避免多次逆矩阵相乘。利用VB对CATIA进行二次开发，在CATIA软件中实现上假肢关节各个解所对应的空间位置姿态图形显示，可直观地判断解的有效性，为上假肢运动控制研究奠定基础。

关键词: 计算机应用, 上假肢, 可视化, CATIA二次开发, 运动学逆解

Abstract: A method based on algebraic and identity conditions for mechanism is presented to solve artificial upper limbs inverse kinematics problems. The method can avoid multi-times inverse matrics mutiplication in the course of deduction. The spatial positions of each joint angel are shown in CATIA by secondary development of CATIA with VB. It can determine the solutions directly and lay the foundation for movement research of artificial upper limbs.

Key words: computer application, artificial upper limbs, visualization, secondary development of CATIA, inverse kinematics resolution