2007Trajectory planning and optimal method of spray manipulator for furniture surfacepainting.pdf

2007Trajectory planning and optimal method of spray manipulator for furniture surfacepainting.pdf

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2007Trajectory planning and optimal method of spray manipulator for furniture surfacepainting

? ? θ ? α θ × ? θ ? α ? 2030 1-4244-0737-0/07/$20.00 c?2007 IEEE ++ ? ? θ θ θ θ θ θ α θ θ θ θ θ θ θ α θ α α θ θ θ α θ α α θ α α = θ θ θ θ θ ? ? 2007 Second IEEE Conference on Industrial Electronics and Applications 2031 ?+ = ? ? ? ? ? ? ? ? ? ? = = = = ≤ ≤ = + ≤ ≤ ≤ ≤ ≤ ≤ = = ?= ? ? ? = = + = + ? ? ? ∈ = + ? ? ∈ = + ? ∈ = + ? λ = ? λ 2032 2007 Second IEEE Conference on Industrial Electronics and Applications λλ λ α α α ? ? ? ? ? + ≤ ≤ = + ≤ ≤ + + + ∈ ? α α α α + ≤ ≤ = + ≤ + + ≤ ≤ = + ≤ + = + + + ? = ? = ? = ? + ? 2007 Second IEEE Conference on Industrial Electronics and Applications 2033 μ= = = = = λ = × λ ∈ ? ∈ μ μ = = 2034 2007 Second IEEE Conference on Industrial Electronics and Applications θ θ θ θ θ 2007 Second IEEE Conference on Industrial Electronics and Applications 2035

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