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 2 最小流量优化的求解流程图

Fig.2 Solution flow chart of minimum-flow optimization