摘要
The repeatability and the drift properties for kinematically redundant manipulators under pseudoinverse control by simulation from th0e view of workspace is investigated. The conservative point and the conservative region are proposed, and the workspace of manipulator is divded into conservative region and non-conservative region. The repeatatility can be obtained if the closed path of the end effector is in the conservative region. The repeatability and properties of the drift for three DOF planar manipulator are studied under conditions of crank existence of four-bar linkage in mechanism,and some results are obtained by simnulaticn.
ＮｕｍｅｒｉｃａｌＳｔｕｄｙｏｎｔｈｅＲｅｐｅａｔａｂｉｌｉｔｙｏｆ３ＲＰｌａｎａｒＭａｎｉｐｕｌａｔｏｒｓｕｎｄｅｒＰｓｅｕｄｏｉｎｖｅｒｓｅＣｏｎｔｒｏｌ￥（吴瑞珉）（刘廷荣）（陶建国）ＷＵＲｕｉｍｉｎＬＩＵＴｉｎｇｒｏｎｇＴＡＯＪｉａｎｇｕｏ（...
