Robot Position And Orientation Problems On Multiple Solutions Research And More Barrier To Extract Robot Research,

This thesis is based on: 1) the scientific project "the polynomial solutions to spatial and robot frameworks", applied from Shanghai Educational Committee, and 2) the experience in the research of making the robot for the contest of overcoming obstacles by robot, held by Shanghai Municipal Government in the year 2001 for colleges and universities in Shanghai.The thesis is aimed to: l)find a universal method in establishing the mathematic model f(u; x) = 0 for indirect problem of manipulator; 2)create a new elimination for m >n by which the equations (PS) = Ocan be eliminated as polynomial solutions (TS) = 0; 3)solve a lot of indirect problem of manipulator; and 4) draw a conclusion about the research of making the robot for the contest of overcoming obstacles by robot, held by Shanghai Municipal Government in the year 2001 for colleges and universities in Shanghai.In this paper, corresponding theory has been built up and new elimination step has been constructed for m >n on the basis of the elimination by eliminate with aid of basic sets about m = n. A polynomial set (PS) of m >n can be changed into a triangular ?form polynomial set (TS} = {b1(x1), b2 (x1, x2),..., bn (x1,..., xn)} by making use of the method in this paper. For such (TS), bt{i= I, ... , n) has lowest degree in polynomials of the same type, and The method has important theoretical significance and practical value in solving engineering problems of analysis and synthesis about spatial mechanisms, manipulate mechanisms.For a series manipulator which contains (or simplified contains) R - P > C and H kinematic pair, a method of availing all effective elements is employed to create position and pose equations in the form of matrix automatically by computer with acknowledged information of 'the types of kinematic pairs and corresponding framework parameters etc '. Then trigonometric functions included are rationalized so as to create a polynomial system (PS) =0 of over 9 equations, of which the solution (TS) = 0 is obtained with the method of elimination by eliminant for m ^n. The characteristic of the method is that all the 9 available elements in the position and pose matrix equations are used to obtain the manipulator's kinematics solution so that a relatively low degree of solution can be ensured in the establishment of equations. ROBOT.FOR programmed in this method is characteristic of easy input, formulaic output and accurate results in obtaining the solution of manipulator calculation.In this thesis, the author makes a series of calculation to the 3-jointed, 4-jointed and 5-jointed manipulator, which is a testimony of this method in its correctness and feasibility. In addition, the author makes a systematic summary of the research work in making the screw-parallelogram robot of overcoming obstacles.Multiply solution problem is one of the most difficult and advanced subjects in mechanistic research. The research work of this diesis is of theoretical value to improve mechanics and the calculation result is of practical value to the application of robot.