摘要
给出了机械臂刚体运动螺旋极小模方程的解系,并将结果应用于一种特定约束解的求解问题。结果表明,利用极小模方程的解系不仅可以使该特定约束问题的求解十分简单,甚至可以应用与其它约束条件的求解。
The solution system of minimum-magnitude equation about the screw of a rigid-body motion of manipulator is given in this paper,and it has been used to solve a special restricted problem.The result shows that the solution system of minimum-magnitude equation not only can solve special restricted problem readily,but also can be used to solve other restricted problems.
出处
《光电工程》
CAS
CSCD
北大核心
2010年第7期8-11,共4页
Opto-Electronic Engineering
基金
武器装备预研基金项目资助(9140A21040406HT0536)
关键词
旋量理论
极小模
解系
机械臂
刚体运动
screw theory
minimum magnitude
solution system
manipulator
rigid-body motion
