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deng bi chang du ji xie shou de ji he jie zuo yuan li
Author(s): 
Pages: 14-15
Year: Issue:  5
Journal: ROBOT TECHNIQUE AND APPLICATION

Keyword:  机械手等臂长度解耦;
Abstract: 对于大臂与小臂等长的多关节机械手,可以利用其等臂长的条件,经几何量的变换,求得各关节应有的运动量.本文详细论述了这种几何解耦的方法,并推导给出了计算公式.
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