球面手腕康复机构逆运动学解新方法及应用

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New method and application of inverse kinematic solution for spherical wrist rehabilitation mechanism

Wen-jie JIAO,Shuai-xu JI,Hui-min HAO,Jia-hai HUANG,Li-na LI,Shi-yu LI

图 6 不同碰撞的碰撞点位置

Fig.6 Collision point position of different collisions