| 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 蒋建敏. 机器人最优姿态确定的两种不同方法[J]. 湘潭大学自然科学学报, 1991, 13(2): 137-142 |
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| 作者姓名： | 王卫平 蒋建敏 |
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| 作者单位： | 湘潭大学机电工程系(王卫平)，湘潭大学机电工程系(蒋建敏) |
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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这两法的运用。最后,就这两法作了比较并得到一些结论。
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| 关 键 词： | 冗余度 最优姿态条件数 奇异值分解 球形分布 |
DETERMINING THE OPTIMAL POSTURE OF MANIPULATOR OF ROBOT BY TWO METHODS |
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| Wang Weiping Jiang Jianming. DETERMINING THE OPTIMAL POSTURE OF MANIPULATOR OF ROBOT BY TWO METHODS[J]. Natural Science Journal of Xiangtan University, 1991, 13(2): 137-142 |
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| Authors: | Wang Weiping Jiang Jianming |
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| Affiliation: | Department of Mechanical-Electrical Ertgineering |
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| Abstract: | In this paper, we simply introduce on approximate methodused to determine the optimal posture of manipulator of robot. Subsequently,in terms of redundancy, another valid method is established. Next, throughan 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！ |
