吴瑞珉, 刘廷荣, 陶建国, 蔡鹤皋. 冗余度机器人操作机运动学及其设计的研究[J]. 机器人, 1996, 18(1): 55-64..
WU Ruimin, LIU Tingrong, TAO Jianguo, CAI Hegao. STUDY ON KINEMATICS AND DESIGN FOR KINEMATICALLY REDUNDANT ROBOT MANIPULATORS. ROBOT, 1996, 18(1): 55-64..
Abstract:Recently researchers are more and more interested in robot redundancy. In this paper, theories on kinematics and design for kinematically redundant manipulators are reviewed. At first all kinds of inverse kinematic algorithms are compared and discussed, secondly principals for the design of kinematically redundant manipulators are analyzed, thirdly the repeatability under pesudoinverse is investigated. At last, future works on kinematics and design for kinematically redundant manipulators are given.
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