Riemannian metric application in the optimal control of the manipulator performance

被引：0
|
作者：
Huang, XH [1 ]
Wang, DL [1 ]
机构：
[1] Dalian Univ Technol, Dalian 116023, Peoples R China
来源：
2003 IEEE INTELLIGENT TRANSPORTATION SYSTEMS PROCEEDINGS, VOLS. 1 & 2 | 2003年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
According to the geometry, the kinematics and the dynamics about the robotic manipulator, on the base of the Riemannian metric, the property of the smooth hyper-surface and the manifold have been studied. The SCARA robot has been set as a example in this work, the cure that-represents the minimal energy and the differential equation group that images the coupling of the manipulator are showed.
引用
收藏
页码：1610 / 1615
页数：6
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