An Envelope Method to Resolve the Work-Space of Robot
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摘要: 詳細論述了用微分幾何中的包絡法來確定機器人工作空間的問題。基于把工作空間的形成分成了兩部分,從而提出了用雙參數包絡理論確定工作空間界限曲面的方法。此法直觀,實用、易于作圖。并給出了應用實例。Abstract: An envelope method based on the theory of envelope with double-parameter is detailed. When the boundary surface of the work-space is determined, process of its forming is divided into two parts. The method is intuitive and easy to use graphically. Finally, an example to illustrate the method is introduced.
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Key words:
- manipulator /
- work-space /
- curve set /
- surface set /
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