关节式机械手的盲位及其判断

王价人. 关节式机械手的盲位及其判断[J]. 机器人, 1987, 9(2): 39-44.

引用本文:

王价人. 关节式机械手的盲位及其判断[J]. 机器人, 1987, 9(2): 39-44.

WANG Jiaren. The Unreachable Positions of Jointed Manipulator at Certain Postures and the Method of Judging[J]. ROBOT, 1987, 9(2): 39-44.

Citation:

WANG Jiaren. The Unreachable Positions of Jointed Manipulator at Certain Postures and the Method of Judging[J]. ROBOT, 1987, 9(2): 39-44.

The Unreachable Positions of Jointed Manipulator at Certain Postures and the Method of Judging

摘要: 本文在分析盲位与自由度的关系的基础上,确定盲位的概念与定义,给山6-R机械手盲位的数学表达式,并提出了盲位的判断方法。

Abstract: A discussion is presented into the meaning and definition of the unreachable position of gripper at certain postures in jointed manipulator in terms of the conceptionof freedom degree.The method of judging the unreachable positions is given in thisarticle.

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