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（６＋１）自由度机器人逆运动学的最优解吉爱国郭伟张锦江冯汝鹏（哈尔滨工业大学）１前言冗余度机器人，从运动学的观点是指完成某一特定任务时，机器人的自由度数大于作业空间的坐标数。利用冗余度机器人多余的自由度，可增加机器人的可达空间，还可满足另外的最...
(6 + 1) Degrees of Freedom The Optimal Solution to Inverse Kinematics of Robots JI Aiguo, GUO Wei, ZHANG Jinjiang, FENG Rupeng (Harbin Institute of Technology) 1 Introduction Redundant robots, from the kinematic point of view, refer to the robot The number of degrees of freedom is greater than the number of working space coordinates. Redundant robot with the extra degree of freedom, can increase the robot’s reachable space, but also to meet the other ...