基于最小流量的液压机械臂冗余分解

丁孺琦,李望笃,李刚,胡国良

Redundancy resolution of hydraulic manipulators based on minimum-flow

Ru-qi DING,Wang-du LI,Gang LI,Guo-liang HU

图 1 冗余分解中的关节限位函数曲线

Fig.1 Joint limit function graph of redundancy resolution