基于切断点自由度解耦的手腕偏置型6R机器人位置反解

卜王辉;刘振宇;谭建荣

Inverse Displacement Analysis of 6R Robots with Offset Wrists Based on Decoupling Degrees of Freedom at the Cutoff Points

BU Wanghui;LIU Zhenyu;TAN Jianrong

. 2010, (21): 1 -5 .