机器人2000，Vol.22Issue(6)：501-505,5.
冗余度机器人基于任务的方向可操作度研究
ON TASK-BASED DIRECTIONAL MANIPULABILITY MEASURE OF REDUNDANT ROBOT
摘要
Abstract
Based on the analysis of the conventional manipulability measure (MM), the task baseddirectional manipulability measure (TBDM) was defined in this paper. The analytic expression of TBDM wasgiven by the author and was used as the objective function to optimize the robot configuration. Simulationshows that TBDM is more significative than the conventional MM in practical applications.关键词
冗余度机器人/方向可操作度/可操作度椭球Key words
redundant robot/DM/MM ellipsoid分类
信息技术与安全科学引用本文复制引用
姚建初,丁希仑,战强,张启先..冗余度机器人基于任务的方向可操作度研究[J].机器人,2000,22(6):501-505,5.基金项目
国家863计划项目资助。 （）
