According to the geometry model constructed in this paper , kinematics analysis , inverse kinematics with its optimization , analysis and calculation of dynamics are introduced . the resolution of matrix reverse transformation and gradient projection based on fake reverse matrix are used in the computation 建立了该手腕的几何模型,针对该模型展开了运动学分析、逆运动学解的计算,计算使用了矩阵逆变换的解析法和基于伪逆阵的梯度投影法两种方法。
The concept called parallel macro - micro robot is presented . two kinds of optimal disposing methods of the cables ? tensions are used to build the inverse kinematics model of cable and cabin system . the error compensation model of the fine tuning stewart platform is deduced 本章提出了并联宏-微机器人的概念及基于悬索张力均匀原则和悬索系统势能最小原则的两种索张力优化配置方案，并在此基础上建立了并联悬索系统的逆运动学模型，推导了动基座stewart平台的误差补偿模型。
It was observed from the inverse kinematics simulation results that the position , accelerate and velocity minimum - norm solution of joint 1 , 3 , 7 of the manipulator were controllable with no abnormal fluctuates , which satisfy the motion requirements . however , the position , the accelerate and the velocity of joint 2 , 4 , 5 , 6 of the manipulator varied with time irregularly with high efficiency during the simulation time t = 4 . 7197s ~ 5s , which would make the joint uncontrollable and result in the vibration of the manipulator system , hence the kinematic performance of manipulator should be improved 逆运动学仿真结果表明，关节1 、 3 、 7速度最小范数解、位置与加速度均满足运动要求，无异常波动现象，能够实现控制；而关节2 、 4 、 5 、 6速度在仿真时间t = [ 4 . 7197s ， 5s ]时速度、位置和加速度出现异常振荡，关节运动失控，从而引起系统振动，其运动性能需进一步改进。
After introducing some backgrounds and the state of art of motion editing and motion synthesis , we introduce some basic operations of motion editing and show implementation results in eidolon . chapter 3 describes inverse kinematics , and two real time algorithms : ccd and jacobian transpose are discussed in detail . in chapter 4 , we introduce the principle of multiple level b - spline , and motion path editing is achieved with such spline 在介绍了运动编辑和合成的一些背景知识和研究现状后，本文第二章概述了运动编辑的一些基本操作并给出了在eidolon中的实现结果；第三章介绍了逆向运动学算法，着重讲述了两个具有实时性的算法：循环坐标下降法和雅克比转置法；第四章详细介绍了多层次b样条原理和用其进行运动路径编辑的方法。
The position , pose , velocity and acceleration are analyzed in detail and computed with matlab programs . depending on the structure of the robot , a convenient method is proposed to solve the inverse kinematics problem , which builds the foundation of real - time control for the robot 对机械手的位姿、速度、加速度等问题进行了详细的分析,并采用matlab进行了计算;同时,针对本机械手的结构特点,提出了一种简便的运动学逆解算法,为实现机械手的实时控制奠定了基础。
Kinematics simulation of four - foot robot before building the model of four - foot robot kinematics simulation , the gaits of many kinds of movement , such as walk , turn and so on , should be well designed first . then with the principle of machine obverse and inverse kinematics , we analysed the moving trace of four - foot robot ' s feet , body and knuckles , and so on , and built up the kinematics model of four - foot robot ' s all kinds of basic movement 2 、四足机器人运动学仿真的模型。根据机器人运动学设计的基本要求，设计了四足机器人各种运动方式的步态，其中包括行走、转弯等运动形式。在此基础上，运用机构运动的运动学原理和逆运动学原理，确定了四足机器人足端、躯体、膝关节等的运动轨迹，建立了四足机器人各种基本运动如行走、转弯等的运动学模型。
In order to satisfy dynamic characteristics of the robot system , the individual that has the maximum fitness value is assigned to be input of the robot visual controller by evaluating inverse kinematics after each generation ga evolution . so the path planning based on ga process is considered to be in real time mode , which satisfies the requirements of a real time dynamic system 为了满足机器人视觉伺服系统的动态特性，把每一代ga进化后适应度值最大的个体作为机器人视觉控制器的输入(要通过解机器人逆运动学) ，这样就可以把基于6a的路径规划(目标搜索)看成是实时的，使改进后的ga能够满足实时系统的要求。
On the contrary , in - parallel actuated micromanipulators have the advantages of more rigidity and accuracy , higher load capacity , and simple inverse kinematics , therefore they can be used to replace conventional serial ones to meet the rising need for higher precision , they are widely used in automation , communication , mechanics engineering , medicine field and so on 而并联机构具有运动链封闭、刚性好、无关节误差累积、运动精度高，且运动学逆解求解简单等优点，因此非常适合于用作微操作执行器机构，广泛应用于自动化技术、机械制造工程、医疗技术等领域，具有广阔的发展前景。
The inverse kinematics of a space - based manipulator composed of three rigid bodies with prismatic joint are studied in the second chapter , and the jacobean matrix for space manipulator is derived by fully cartesian coordinates . a control method for space manipulator based on the resolved motion rate control concept is proposed 为此结合系统动量及动量矩守恒关系导出了以完全笛卡尔坐标表示的系统运动jacobi矩阵，并在此基础上研究了带滑移铰空间机械臂的分解运动速度控制方法，给出了计算机数值仿真算例，以此证明了该方法的有效性。
According to the robot of trait , the robot of kinematics is analysed by inverse kinematics . the coordinate transform in kinetic course was given . and the velocity and acceleration is analysed by influence coefficient . the changeable velocity and acceleration of curve in the ideal condition is designed and analysed . based on zmp theory , formula calculates zmp by direct and indirect means is deduced 利用影响系数的方法给出了机器人速度和加速度公式，给出了机器人在理想状态下行走的各分支机器人速度和加速度的变化曲线，对曲线进行了分析，指出对应于实际行走过程中每一段曲线的意义，为机器人的控制打下了坚实的基础。
