| 三指机器人手的雅可比矩阵及条件数 |
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| 引用本文： | 钱瑞明,郑文纬,廖鹏凯.三指机器人手的雅可比矩阵及条件数[J].东南大学学报(自然科学版),1993(Z1):32-35. |
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| 作者姓名： | 钱瑞明 郑文纬 廖鹏凯 |
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| 作者单位： | 东南大学机械工程系 |
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| 摘 要： | 基于指端接触点建立了三指手的雅可比矩阵，提出了描述三指手速度、力传递特性的雅可比矩阵条件数。
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| 关 键 词： | 机器人 三指手 雅可比矩阵 条件数 |
Jacobian Matrix and Condition Number of a Three-Fingered Robot Hand |
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| Qian Ruiming Zheng Wenwei Liao Pengkai.Jacobian Matrix and Condition Number of a Three-Fingered Robot Hand[J].Journal of Southeast University(Natural Science Edition),1993(Z1):32-35. |
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| Authors: | Qian Ruiming Zheng Wenwei Liao Pengkai |
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| Institution: | Department of Mechanical Engineering |
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| Abstract: | The Jacobian matrix on fingertip contact points of a three-fingered robot hand is formulated.The condition number of the Jacobian matrix is put forward which describes the transmission characteristics of speed and force of the hand. |
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| Keywords: | robot three-fingered hand Jacobian matrix condition number |
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