杨挺, 蔡鹤皋. 机器人操作手准静定功率方程及其分析[J]. 机器人, 1991, 13(5): 32-35..
YANG Ting, CAI Hegao. QUASI-STATIC POWER EQUATION OF ROBOT MANIPULATORS AND ITS ANALYSIS. ROBOT, 1991, 13(5): 32-35..
Abstract：A new concept, robot powering behaviour, is stated. And quasi-static power equation of robotmanipulators is derived and analyzed systematically. This work will provide a basis for the research ofquasi-static powering behaviour, which will contribute to the improvement of robot working ability, effi-ciency and dynamic characteristic, etc.
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