傅祥志. 机器人操作手的最佳传力位姿的确定[J]. 机器人, 1993, 15(3): 1-6..
FU Xiangzhi. DETERMINATION OF THE OPTIMAL POSTURE OF MANIPULATORS FOR THE FORCE TRANSMISSION. ROBOT, 1993, 15(3): 1-6..
Abstract：According to the analysis of dynamic characteristic,the force transmission characteristics,of manipulatorsare studied.And the criteria for measuring the force-transmission dexterity of manipulators are defined basedon the theory of the general relativity of the vector and Moore-penrose inverse.By using these criteria,thebest posture of a manipulator with the minimum joint force on the given load is determined.
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