作为状态变量函数的机械臂驱动力矩
DRIVING MOMENT OF ROBOT ARMS——AS FUNCTIONS OF STATE VARIABLES
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摘要: 本文提出了把机械臂驱动力矩表示为状态变量函数的方法,并以两杆刚性机械臂为例讨论了该方法的应用.Abstract: This paper presents a new method to express the driving moment of robot arms as a function of state variables. A two-link rigid robot arm is considered to illustrate the application of the method.