Journal of Northeastern University(Natural Science)
Research on Tool-Changing Trajectory Planning of Tool-Changing Robots Based on Hybrid Spline Curves
QIAN Wen-xue， SONG Shuai， LI Hao， WANG Ying-hua
Journal of Northeastern University(Natural Science) . 2021, (10): 1427 -1434 .  DOI: 10.12068/j.issn.1005-3026.2021.10.009