摘要
运用正交试验设计原理验证了用冗余度法所确定的最优关节对机械手姿态影响的显著性．结果表明，冗余度法用于求解机械手最优关节是有效的．
This paper uses the intersection experiment design principle to verify outstanding performance of the optimal joints, determined by redundancy method, for the manipulator posture. The results show that the redundancy method, used in obtaining the optimal joints of manipulator, is valid.
关键词
机械手
冗余度
最优关节
正交试验设计
manipulator
redundancy
optimal joint
outstanding performance
intersection experiment design
