正反解

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并联机构正反解

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In this section, we will discuss the forward and inverse kinematics of parallel manipulators. Parallel manipulators are mechanisms that consist of multiple links connected in parallel to the ground, and which are actuated by a set of actuators. These mechanisms are widely used in industrial applications and are known for their high accuracy, stiffness, and load-carrying capacity.

When discussing the forward kinematics of parallel manipulators, we are interested in determining the position and orientation of the end-effector (i.e., the tool attached to the end of the mechanism) given the joint angles of the actuators. This is an important step in controlling the motion of the manipulator, as it allows us to specify the desired position and orientation of the end-effector.

On the other hand, the inverse kinematics problem involves determining the joint angles required to achieve a desired position and orientation of the end-effector. This is a more challenging problem, as it requires us to solve a set of nonlinear equations to determine the joint angles. However, it is an essential step in controlling the motion of the manipulator, as it allows us to specify the desired position and orientation of the end-effector in a more intuitive way.

Therefore, in summary, the forward and inverse kinematics of parallel manipulators are important topics in the field of robotics and are essential for controlling the motion of these mechanisms.