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 4 液压机械臂各关节几何关系

Fig.4 Geometric relationship of each joint on hydraulic manipulator