论文部分内容阅读
本文介绍了ＲＴ－１ 蛇形柔体机器人的创新特点，分析了各关节间隙对手部位姿误差的影响，运用位姿误差传递矩阵编制了程序，绘出了算例。
In this paper, we introduce the innovative features of the RT-1 snake-like flexible robot, analyze the effect of the joint clearance on the position and orientation errors of the hand, and use the pose-error transfer matrix to develop the program and draw an example.