摘要
本文着重分析了五转动副机器人．并以ＳＩＲ－Ⅱ为实测研究对象。
This paper mainly analyzed 5R's Robot. The experiment was analyzed by using SIRII (Shanghai Industry Robot-II ). Then We discussed the influence of rigidity of joints on the status of position of the end of manipulator and system frequency of 5R Robot.
出处
《上海大学学报（自然科学版）》
CAS
CSCD
1996年第6期622-626,共5页
Journal of Shanghai University:Natural Science Edition
关键词
关节
刚度
机器人
动态特性
工业机器人
alternate of homogeneous coordinates
jacob matrix
rigidity of joints
