平面4R冗余度机器人自运动中的混沌现象
In this paper the zero dynamics corresponding to the self-motion of links in the null space of a redundant robot is derived based on the theory of feedback linearization. For a planar 4R redundant robot with the desired output to be a straight line, the relation between the self-motion and the vecto...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2003-01-01
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| Series: | Jixie chuandong |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2003.02.001 |
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