http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
이지홍,원경태 忠南大學校 産業技術硏究所 1998 산업기술연구논문집 Vol.13 No.2
This paper describes the impact configurations for robot manipulators. Instead of the well-known impact ellipsoid, we propose the geometric configuration of the impact directly from the mathematical definition. The derived impact configuration is derived from those impact velocities with unit norm or less. By calculating the length along the specified motion direction or the volume of the geometry, we can determine the characteristics of robot configuration both in impact along the specified direction and the ability of the robot to withstand impacts. Simulation results containing various impact configurations corresponding to robot configurations are given.