空间6R机器人位置反解的对偶四元数法

倪振松;廖启征;魏世民;李瑞华

Dual Four Element Method for Inverse Kinematics Analysis of Spatial 6R Manipulator

NI Zhensong;LIAO Qizheng;WEI Shimin;LI Ruihua

. 2009, (11): 25 -29 .