【摘要】 在Dubowsky提出的增强干扰图（EDM）基础上，提出一个新的受限最小干扰图RMDM的计算方法，以减少计算EDM图所需的时间和存储EDM图所需的空间，并在此基础上，提出了基于RMDM图的姿态控制算法．这种姿态控制方法可以保证机器人的本体姿态在机械手的运动过程中保持不变．为验证提出的姿态控制方法的可行性及有效性，通过计算机仿真与Dubowsky提出的方法做对比实验，实验结果表明提出的方法是正确的、可行的．更多还原

【Abstract】 Based on enhanced disturbance map(EDM) presented by Dubowsky, this paper presents a new restricted minimum disturbance map(RMDM) to decrease the computing time and storage space for EDM. Then a EMDM based attitude control algorithm ensures that the attitude of the base of the robot can remain fixed during the move-ment of the manipulators. Simulation comparing experiments by Dubowsky’s method are made on computer to verify the feasibility and effectiveness of this algorithm.更多还原