摘要
针对代数方法给出的机器人操作臂代数解 ,应用几何规划法排除局部闭链机构的不可能位姿 ,确定了工作空间所对应的操作空间关节变量的取值范围 。
The algebra anti\|solution of the robot manipulator with local closed chain is presented. The impossible locations for local closed chain are excluded and the nodal variable scale in operational space is given by using geometirc planning method, so the nodal variable value can be truely decided for a given arbitrary point of arm gripper in working space.
出处
《郑州轻工业学院学报》
2001年第2期26-28,共3页
Journal of Zhengzhou Institute of Light Industry（Natural Science）
基金
国家 8 6 3项目! (86 3- 5 - 2 )
