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中文摘要：
在D-H模型法运动学分析的基础上，研究了带关节属性的运动学反解方法，即在6轴机器人运动学正反解的过程中根据机器人的3种奇异形位划分了与位姿有关的关节属性，利用关节属性能在反解时确定唯一解，省去了一般机器人反解时所用的比较择优的过程，优化了机器人运动学反解算法．该算法具有能预知过奇异点路径、反解速度快、能确定唯一解等优点，能很好地应用于实际的机器人运动控制中，并在莫托曼SK6型机器人上获得了实例验证．
英文摘要：
Method to kinematic direct and inverse solution with joint attribute was studied based on DH model kinematic analysis, namely in the process of six-axis robot kinematic direct and inverse solution, joint attribute related to robot position and posture was put forward according to its three singularities. The unique solution could be determined by using the joint attribute in the inverse solution, omitting the comparison process for the preferred one which is often applied in general inverse solution, optimizing the robot kinematic inverse algorithm. The algorithm has the advantages of predicting the path passing singular point, high reverse solution speed and determining the unique solution, which can be applied to actual robot motion control effectively, and it is verified by Motorman SK6 robot.
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