Tsai L W, Morgan A. Solving the kinematics of the most general six and five-degree-of-freedom manipulators by continuation methods[J]. Mechanism and Machine Theory, 1985, 107(2): 189-200.
[2]
Primrose E J F. On the input-output equation of the general 7R mechanism[J]. Mechanism and Machine Theory, 1986, 21(5): 509-510.
[3]
Lee H Y, Liang C G. Displacement analysis of the general spatial 7-link 7R mechanism[J]. Mechanism and Machine Theory, 1988, 23(3): 219-226.
[4]
Raghavan M, Roth B. Inverse kinematics of the general 6R manipulator and related linkages[J]. ASME Journal of Mechanical Design, 1993, 115(3): 502-508.
[5]
Manocha D, Canny J F. Efficient inverse kinematics for general 6R manipulators[J]. IEEE Transaction on Robotics and Automation, 1994, 5(10): 648-657.
[6]
杭鲁滨, 王彦, 杨廷力. 基于Groebner基法的一般串联6R机器人机构逆运动学分析[J]. 上海交通大学学报, 2004, 38(6): 853-856. Hang Lubin, Wang Yan, Yang Tingli. Inverse kinematic analysis of the general 6R serial robot mechanism based on groebner basis[J]. Journal of Shanghai Jiaotong University, 2004, 38(6): 853-856.
[7]
Clifford W K. Application of Grassmann's extensive algebra[J]. Amer. J. of Math, 1878, 1: 350-358.
[8]
Li Hongbo, Hestenes D, Rockwood A. Generalized homogeneous coordinates for computational geometry [M]. Heidelberg: Springer, 2001: 27-60.
[9]
于艳秋, 王品, 廖启征. 一般6R机器人的位置反解与运动仿真[J]. 中国机械工程, 2003, 14(24): 2130-2132. Yu Yanqiu, Wang Pin, Liao Qizheng. Inverse kinematics analysis or general 6r serial robot and motion simulation[J]. China Mechanical Engineering, 2003, 14(24): 2130-2132.
