Based on the conservation principle of linear and angular momentum, the method derives the equations of the mass and mass center as well as inertia tensor of the new end-effector for the manipulator handling the unknown object.
Based on the conservation principle of linear and angular momentum, the method derives the equations of the mass and mass center as well as inertia tensor of the new end-effector for the manipulator handling the unknown object.
该方法基于线动量和角动量守恒定律，推出了机械臂负载未知目标的新的末端效应器的质量、质心和转动惯量的方程组。