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 8 椭圆轨迹下不同冗余分解方法的规划角度对比

Fig.8 Comparisons of planned joint angles among different redundancy resolution methods under elliptic trajectory