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 11 不同轨迹下不同冗余分解方法的末端轨迹对比

Fig.11 Comparisons of end-effector trajectories among different redundancy resolution methods under different trajectories