文件在6轴运动系统中区分3个不同奇点位置它们头顶伸展腕.pdfVIP

Singularities In a standard 6-axis kinematic system, a dist tion is mad ween 3 different singularity positions. These are the overhead singularity, the extended position and the wrist axis singularity. One characteristic of a singularity is that unam