Попов, А.В. Разработка и исследование методов решения обратной задачи кинематики для роботов с избыточностью [Электронный ресурс] / А.В. Попов, В.П. Макарычев. — Секция «Робототехника и техническая кибернетика». — Электрон. текстовые дан. (1 файл : 108 Кб) // Материалы... 29 ноября- 4 декабря 2004 г. [Электронный ресурс] / Санкт-Петербургский государственный политехнический университет. Межвузовская научно-техническая конференция, Неделя науки (33; 2004; Санкт-Петербург); Совет СПбГПУ по научно-исследовательской работе студентов; Под общ. ред. В.В. Глухова. – Санкт-Петербург. – 2005. – Факультет технической кибернетики, факультет при ЦНИИ РТК [Электронный ресурс]. — Загл. с титул. экрана. — Электрон. версия печ. публикации. — Свободный доступ из сети Интернет (чтение, печать, копирование). — Adobe Acrobat Reader 6.0. — <URL:http://elib.spbstu.ru/dl/005696.pdf>.
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Period
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Read
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Print
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Copy
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Open
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Total
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Year 2012
|
Quarter 1
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January
|
2
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0
|
2
|
0
|
4
|
|
February
|
1
|
0
|
2
|
0
|
3
|
|
March
|
2
|
0
|
1
|
0
|
3
|
|
Quarter 2
|
April
|
1
|
0
|
0
|
0
|
1
|
|
May
|
0
|
0
|
0
|
0
|
0
|
|
June
|
1
|
0
|
0
|
0
|
1
|
|
Quarter 3
|
July
|
2
|
0
|
0
|
0
|
2
|
|
August
|
0
|
0
|
0
|
0
|
0
|
|
September
|
3
|
0
|
4
|
0
|
7
|
|
Quarter 4
|
October
|
1
|
0
|
2
|
0
|
3
|
|
November
|
2
|
0
|
1
|
0
|
3
|
|
December
|
0
|
0
|
1
|
0
|
1
|
|
Year 2013
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Quarter 1
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January
|
2
|
0
|
1
|
0
|
3
|
|
February
|
2
|
0
|
2
|
0
|
4
|
|
March
|
0
|
0
|
0
|
0
|
0
|
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Quarter 2
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April
|
2
|
0
|
0
|
0
|
2
|
|
May
|
5
|
0
|
3
|
0
|
8
|
|
June
|
4
|
0
|
1
|
0
|
5
|
|
Quarter 3
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July
|
9
|
0
|
4
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0
|
13
|
|
August
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5
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0
|
1
|
0
|
6
|
|
September
|
7
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0
|
1
|
0
|
8
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|
Quarter 4
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October
|
4
|
0
|
1
|
0
|
5
|
|
November
|
7
|
0
|
2
|
0
|
9
|
|
December
|
8
|
0
|
8
|
0
|
16
|
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Year 2014
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Quarter 1
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January
|
6
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0
|
1
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0
|
7
|
|
February
|
7
|
0
|
4
|
0
|
11
|
|
March
|
5
|
0
|
1
|
0
|
6
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Quarter 2
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April
|
6
|
0
|
2
|
0
|
8
|
|
May
|
8
|
0
|
4
|
0
|
12
|
|
June
|
12
|
0
|
1
|
0
|
13
|
|
Quarter 3
|
July
|
10
|
0
|
4
|
0
|
14
|
|
August
|
8
|
0
|
4
|
0
|
12
|
|
September
|
13
|
0
|
3
|
0
|
16
|
|
Quarter 4
|
October
|
12
|
0
|
4
|
0
|
16
|
|
November
|
7
|
0
|
1
|
0
|
8
|
|
December
|
9
|
0
|
2
|
0
|
11
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Year 2015
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Quarter 1
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January
|
8
|
0
|
2
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0
|
10
|
|
February
|
6
|
0
|
2
|
0
|
8
|
|
March
|
3
|
0
|
5
|
0
|
8
|
|
Quarter 2
|
April
|
10
|
0
|
2
|
0
|
12
|
|
May
|
6
|
0
|
2
|
0
|
8
|
|
June
|
6
|
0
|
2
|
0
|
8
|
|
Quarter 3
|
July
|
9
|
0
|
4
|
0
|
13
|
|
August
|
4
|
0
|
2
|
0
|
6
|
|
September
|
6
|
0
|
2
|
0
|
8
|
|
Quarter 4
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October
|
16
|
0
|
3
|
0
|
19
|
|
November
|
8
|
0
|
7
|
0
|
15
|
|
December
|
10
|
0
|
5
|
0
|
15
|
|
Year 2016
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Quarter 1
|
January
|
7
|
0
|
3
|
0
|
10
|
|
February
|
5
|
0
|
4
|
0
|
9
|
|
March
|
3
|
0
|
3
|
0
|
6
|
|
Quarter 2
|
April
|
7
|
0
|
9
|
0
|
16
|
|
May
|
4
|
0
|
5
|
0
|
9
|
|
June
|
8
|
0
|
3
|
0
|
11
|
|
Quarter 3
|
July
|
4
|
0
|
1
|
0
|
5
|
|
August
|
5
|
0
|
1
|
0
|
6
|
|
September
|
10
|
0
|
2
|
0
|
12
|
|
Quarter 4
|
October
|
8
|
0
|
6
|
0
|
14
|
|
November
|
2
|
0
|
1
|
0
|
3
|
|
December
|
8
|
0
|
6
|
0
|
14
|
|
Year 2017
|
Quarter 1
|
January
|
6
|
0
|
3
|
0
|
9
|
|
February
|
0
|
0
|
0
|
0
|
0
|
|
March
|
7
|
0
|
2
|
0
|
9
|
|
Quarter 2
|
April
|
5
|
0
|
1
|
0
|
6
|
|
May
|
7
|
0
|
2
|
0
|
9
|
|
June
|
1
|
0
|
1
|
0
|
2
|
|
Quarter 3
|
July
|
5
|
0
|
5
|
0
|
10
|
|
August
|
1
|
0
|
2
|
0
|
3
|
|
September
|
5
|
0
|
2
|
0
|
7
|
|
Quarter 4
|
October
|
4
|
0
|
2
|
0
|
6
|
|
November
|
6
|
0
|
3
|
0
|
9
|
|
December
|
15
|
0
|
1
|
0
|
16
|
|
Year 2018
|
Quarter 1
|
January
|
10
|
0
|
4
|
0
|
14
|
|
February
|
13
|
0
|
5
|
0
|
18
|
|
March
|
9
|
0
|
3
|
0
|
12
|
|
Quarter 2
|
April
|
18
|
0
|
1
|
0
|
19
|
|
May
|
14
|
0
|
5
|
0
|
19
|
|
June
|
17
|
0
|
2
|
0
|
19
|
|
Quarter 3
|
July
|
15
|
0
|
2
|
0
|
17
|
|
August
|
22
|
0
|
4
|
0
|
26
|
|
September
|
11
|
0
|
7
|
0
|
18
|
|
Quarter 4
|
October
|
15
|
0
|
5
|
0
|
20
|
|
November
|
17
|
0
|
3
|
0
|
20
|
|
December
|
12
|
0
|
2
|
0
|
14
|
|
Year 2019
|
Quarter 1
|
January
|
7
|
0
|
0
|
0
|
7
|
|
February
|
8
|
0
|
2
|
0
|
10
|
|
March
|
12
|
0
|
6
|
0
|
18
|
|
Quarter 2
|
April
|
17
|
0
|
2
|
0
|
19
|
|
May
|
16
|
0
|
0
|
0
|
16
|
|
June
|
12
|
0
|
1
|
0
|
13
|
|
Quarter 3
|
July
|
7
|
0
|
3
|
0
|
10
|
|
August
|
11
|
0
|
3
|
0
|
14
|
|
September
|
11
|
0
|
2
|
0
|
13
|
|
Quarter 4
|
October
|
12
|
0
|
1
|
0
|
13
|
|
November
|
7
|
0
|
2
|
0
|
9
|
|
December
|
6
|
0
|
2
|
0
|
8
|
|
Year 2020
|
Quarter 1
|
January
|
3
|
0
|
1
|
0
|
4
|
|
February
|
9
|
0
|
17
|
0
|
26
|
|
March
|
5
|
0
|
5
|
0
|
10
|
|
Quarter 2
|
April
|
4
|
0
|
0
|
0
|
4
|
|
May
|
3
|
0
|
0
|
0
|
3
|
|
June
|
6
|
0
|
0
|
0
|
6
|
|
Quarter 3
|
July
|
9
|
0
|
0
|
0
|
9
|
|
August
|
3
|
0
|
0
|
0
|
3
|
|
September
|
3
|
0
|
0
|
0
|
3
|
|
Quarter 4
|
October
|
7
|
0
|
1
|
0
|
8
|
|
November
|
3
|
0
|
4
|
0
|
7
|
|
December
|
4
|
0
|
4
|
0
|
8
|
|
Year 2021
|
Quarter 1
|
January
|
4
|
0
|
1
|
0
|
5
|
|
February
|
0
|
0
|
5
|
0
|
5
|
|
March
|
1
|
0
|
2
|
0
|
3
|
|
Quarter 2
|
April
|
1
|
0
|
6
|
0
|
7
|
|
May
|
0
|
0
|
2
|
0
|
2
|
|
June
|
3
|
0
|
4
|
0
|
7
|
|
Quarter 3
|
July
|
1
|
0
|
5
|
0
|
6
|
|
August
|
1
|
0
|
3
|
0
|
4
|
|
September
|
4
|
0
|
3
|
0
|
7
|
|
Quarter 4
|
October
|
1
|
0
|
2
|
0
|
3
|
|
November
|
3
|
0
|
1
|
0
|
4
|
|
December
|
5
|
0
|
0
|
0
|
5
|
|
Year 2022
|
Quarter 1
|
January
|
1
|
0
|
1
|
0
|
2
|
|
February
|
4
|
0
|
2
|
0
|
6
|
|
March
|
3
|
0
|
1
|
0
|
4
|
|
Quarter 2
|
April
|
0
|
0
|
2
|
0
|
2
|
|
May
|
1
|
0
|
2
|
0
|
3
|
|
June
|
0
|
0
|
4
|
0
|
4
|
|
Quarter 3
|
July
|
2
|
0
|
0
|
0
|
2
|
|
August
|
1
|
0
|
1
|
0
|
2
|
|
September
|
0
|
0
|
0
|
0
|
0
|
|
Quarter 4
|
October
|
1
|
0
|
2
|
0
|
3
|
|
November
|
8
|
0
|
1
|
0
|
9
|
|
December
|
5
|
0
|
2
|
0
|
7
|
|
Year 2023
|
Quarter 1
|
January
|
11
|
0
|
3
|
0
|
14
|
|
February
|
1
|
0
|
1
|
0
|
2
|
|
March
|
3
|
0
|
2
|
0
|
5
|
|
Quarter 2
|
April
|
6
|
0
|
5
|
0
|
11
|
|
May
|
4
|
0
|
2
|
0
|
6
|
|
June
|
23
|
0
|
1
|
0
|
24
|
|
Quarter 3
|
July
|
12
|
0
|
2
|
0
|
14
|
|
August
|
4
|
0
|
3
|
0
|
7
|
|
September
|
0
|
0
|
4
|
0
|
4
|
|
Quarter 4
|
October
|
2
|
0
|
4
|
0
|
6
|
|
November
|
4
|
0
|
6
|
0
|
10
|
|
December
|
1
|
0
|
3
|
0
|
4
|
|
Year 2024
|
Quarter 1
|
January
|
2
|
0
|
2
|
0
|
4
|
|
February
|
3
|
0
|
2
|
0
|
5
|
|
March
|
1
|
0
|
6
|
0
|
7
|
|
Quarter 2
|
April
|
4
|
0
|
2
|
0
|
6
|
|
Total
|
887
|
0
|
373
|
0
|
1,260
|
