【摘要】 详细论述了用微分几何中的包络法来确定机器人工作空间的问题。基于把工作空间的形成分成了两部分,从而提出了用双参数包络理论确定工作空间界限曲面的方法。此法直观,实用、易于作图。并给出了应用实例。更多还原

【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.更多还原