说明：
By analyzing the effect of restrict factors on joints' movement, this thesis sets up the equation of the boundary curve used for solid angle caculatin ...展开
g , in which the condition that all joints have movement limits is considered. And then, the formula of solid angle is induced. The equation anti the formula can be applyed to all kinds of robot. Afterwords, the equation of the boundary of the workspace assuming that hanoi direction keeps unchanging in it is obtained under the condition that all robot joint angles have limits. The equation is also availabale for all kinds of robot. 收起
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