DESIGN PHILOSOPHY OF AN ISOTROPIC SIXAXIS SERIAL.pdf
PresentedinthispaperisthedesignphilosophyemployedfortheconstructionofDIESTRO,anisotropic,six-axis,serialmanipulator.Thekinematiccriteriaappliedsofarinmanipulatordesignhavebeenbasedlargelyonkinematicsolvability,inthesenseofallowingforclosed-forminversekinematicsolutions.Asopposedtothis
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