模块化机器人协调运动需要各模块之间的运算分析,模块化机器人的正解运算与逆解运算的方法决定模块化机器人运动协调能力。通过建立机器人运动数学模型可以分析机器人各模块的运动。 Coordinated movement of modular robots requires the operation analysis between the modules. The positive solution operation and inverse solution operation of the modular robot determine the coordination ability of the modular robot. By building a mathematical model of robot motion, the motion of each robot can be analyzed.