杨成梧, 谢小庆, 史国军. 双臂机器人两手臂间的协调运动[J]. 机器人, 1990, 12(4): 56-59,64..
YANG Chengwu, XIE Xiaoqing, SHI Guojun. COORDINATED ARM MOTIONS OF A TWO—ARM ROBOT. ROBOT, 1990, 12(4): 56-59,64..
Abstract：This paper investigates the kinematic coordinated problems of two-arm robots. When two manipulatorsmove in a coordinated way, their movements are not independent. Based on the structure and working character oftwo-arm robots, the paper discusses the problem of one object to be held by two manipulators. We have derivedout the state of motion of the slave arm in the coordinates system of itself from that of the main arm.
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