Full Cartesian coordinates method of inverse problem of space manipulator

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Jixie Kexue Yu Jishu | / 3卷 / 413-415期
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The inverse problem of space manipulator described by full Cartesian coordinates is studied in the present paper. By means of the full Cartesian coordinates method, a differential equation of first order for space manipulator is formulated. It is shown by the numerical simulation of inverse dynamics of space manipulator that the given method is simple and efficient.
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