| 机器人最优姿态确定的两种不同方法 |
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| 引用本文： | 王卫平.机器人最优姿态确定的两种不同方法[J].东莞理工学院学报,1998,5(1):31-37. |
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| 作者姓名： | 王卫平 |
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| 作者单位： | 东莞理工学院机械工程系!东莞市步步高，511700 |
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| 摘 要： | 本文简要地介绍了一种用于确定机器人操作手最优姿态的近似方法。接着从冗余自由度概念出发，提出了另一种有效方法。然后通过一个例子说明了辽两法的运用。最后，就这两法作了比较并得到了一些结论。
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| 关 键 词： | 冗余度 最优姿态条件数 奇异值分解 机器人 |
DETERMINING THE OPTIMAL POSTURE OF MANIPULATIOR OF ROBOT BY TWO METHODS |
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| Wang Weiping.DETERMINING THE OPTIMAL POSTURE OF MANIPULATIOR OF ROBOT BY TWO METHODS[J].Journal of Dongguan Institute of Technology,1998,5(1):31-37. |
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| Authors: | Wang Weiping |
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| Institution: | Dongguan Institute of Technology |
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| Abstract: | In this paper, we simply introduce on approximate method used to determine the optimal posture of manipulator of robot. Subsequently, in terms of redundancy, another valid method is established. Next, through an example, we give the explaination how to use the two methods. Finally, we give the contrast between the two methods and get some conclusions. |
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| Keywords: | Redundancy Optimal posture/condition-number Singular value decomposition Sphecrical distribution |
| 本文献已被 CNKI 维普 等数据库收录！ |
