黎亚龙, 李坦, 邓路明, 罗三定, 周国荣, 阳洪志. CS－1双臂工业机器人及其控制[J]. 机器人, 1994, 16(5): 290-295..
LI Yalong, LI Tan, DENG Luming. CS-1 INDUSTRIAL ROBOT WITH TWO ARMS AND ITS CONTKOL. ROBOT, 1994, 16(5): 290-295..
Abstract：A two-arm industrial robot which is used for high-temperature and poisonous beryllium alloy production to replace worker's operation has been developed.First,the geometry and kinematics paramcters are introduced in this paper,The hierachical computer control,advanced AC servo drive and characteristic CS-1 robot language ls expounded.The result of the application is also presented.
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