Abstract
The spinors applied to describe position and attitude of robot are studied. In dual spaces, the terminal trace of robot is planned through the mapping point, of attitude spinors. As a handy method directly perceived through the sense, the spinor method directly converges tracking error in the planning. It promotes the dynamic accuracy of trace operation. It is also suitable to the exerciser with redundant freedom.
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Communicated by Tang Renji
Foundation item: the Natural Science Foundation of Fujian Province, China
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Ruilin, L. Planning motion trace of robot by spinor method. Appl Math Mech 21, 109–116 (2000). https://doi.org/10.1007/BF02458547
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DOI: https://doi.org/10.1007/BF02458547