ZHANG Xu-ping, YU Yue-qing. A EFFICIENT METHOD FOR IMPROVE MENT OF LOAD CARRYING CAPACITY FOR A FLEXIBLIE SPATIAL MANIPULATORS[J]. ROBOT, 2000, 22(5): 390-396.
Citation: ZHANG Xu-ping, YU Yue-qing. A EFFICIENT METHOD FOR IMPROVE MENT OF LOAD CARRYING CAPACITY FOR A FLEXIBLIE SPATIAL MANIPULATORS[J]. ROBOT, 2000, 22(5): 390-396.
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A EFFICIENT METHOD FOR IMPROVE MENT OF LOAD CARRYING CAPACITY FOR A FLEXIBLIE SPATIAL MANIPULATORS

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    • Abstract
  • The load carrying capacity of a flexible spatial manipulator is improved by means of optimizing the initial joint configuration when the end motion and errors of the manipulator are satisfied. The numerical simulation of a 4R spatial manipulator shows that the method is effective.
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