【摘要】 多自由度电机在机器人等领域有广泛的应用前景。研究在给出了两自由度电动机的运动学方程和速度雅可比矩阵的基础上,推导了其速度雅可比矩阵的伪逆阵。更多还原

【Abstract】 Multidegree-of-freedom motor has very good prospects for practical application in robotics and other areas.On the basis of kinematics equation and the velocity Jacobian matrix, the pseudo-inverse of the Jacobian matrix is deduced.The research result provides the theoretical foundation for velocity control of the multidegree-of-freedom motor.更多还原