Foshan Standard Bio-tech Co., Ltd.

Foshan Huashu Robotics Co., Ltd.

Foshan Institute of Intelligent Equipment Technology

Shifeng Huang

Lin Wei Yang

Li Zeng

Zhijian Tan

Yabiao Weng

Xugao Deng

Xing Zhou

Haibin Yang

Qun Wang

Lidan Liu

Yuan Liu

Tongshu Chen

Xinqiu Wang

Simin Chen

Yijuan Huang

Yaoyao Ou

The present invention discloses a rabbit coccidiosis vaccine and application thereof, the vaccine comprises 100 to 800/dose, 200 to 1600/dose, and 100 to 800/dose. The composition of the vaccine possesses the characteristics as scientific reasonable, low cost, no drug residue or drug resistance or environmental pollution would occur, good immunogenicity and safe to use. After oral immunization in rabbits, it may effectively resist the infections of 1&#xd7;10, 5&#xd7;10and 3&#xd7;10. It also may be used to prepare a pharmaceutical preparation against rabbit coccidiosis.

Rabbit coccidiosis vaccine and application thereof

Disclosed is a method for obtaining the inverse kinematics of a six-degree-of-freedom serial robot with an offset wrist. The method uses the analytical solution of the inverse kinematics of the six-degree-of-freedom serial robot with a non-offset wrist as an approximate solution of the inverse kinematics of the six-degree-of-freedom serial robot with an offset wrist and an initial point for iteration, and obtains a numerical solution of the inverse kinematics of the six-degree-of-freedom serial robot with an offset wrist meeting the accuracy through continuously iterative approaching. The present disclosure has faster convergence and less calculation amount relative to the traditional calculation method, reduces the computation burden for a robot controller, and improves the real-time performance.

Numerical method for obtaining the inverse kinematics of six-degree-of-freedom serial robot with an offset wrist

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Foshan, China

Shifeng Huang