An inverse kinematics analysis of the designed welding-robot based on D-H displacementtransformationmatrix was put forward.
本文在D - H齐次变换矩阵的基础上,对焊接机器人进行运动学逆解。
2
The layer stiff matrix, which expresses the relation of force and displacement on surface of every layer, could be calculated to apply integral transformation.
通过积分变换的方法可以求出每一层表面处位移与力之间的关系,进而形成层刚度矩阵。
3
By matrixtransformation, the solutions of surrounding rocks disturbance stress, strain and displacement are obtained.