摘要
从Ｌａｇｒａｎｇｅ－Ｅｕｌｅｒ方程出发，引入离散力学基本概念，导出了一种用于机器人动力学分析的新方法，建立了包含机械损失（阻尼力）在内的机器人离散动力学递推公式．用该方法建立的机器人动力学模型使计算量减少到目前世界上几种主要建模方法中最少程度，特别是所建立的机器人离散动力学模型相对直观、简洁、物理概念明确，有利于机器人实时控制器的设计．通过实例仿真验证了本方法的正确性和实用性．
Setting itself upon basic concepts from discrete mechanics, a new method forthe dynamic analysis of robots is developed, based upon the Lagrange-Euler equation.Taking into account the factor of mechanical dinipation (frictional force),a recursive formulation for discrete dynamic robots is given.The amount of mathematical operations involved in such a model is much reduced and emerges as the least among the chief dynamic modeling methods presently in use.With the discrete dynamic robot nodel is viable to design a real-time controller because the model provides a lncidphysical meaning.Simulation experiments with a real robot has confirmed the feasibilityand applicability of the method.
出处
《北京理工大学学报》
EI
CAS
CSCD
1994年第2期114-119,共6页
Transactions of Beijing Institute of Technology
关键词
机器人
动力学
离散化
数学模型
robots
dynamics
discretiaation
mathematical models/number of operationThe project supported by Ministry Advanced Research Foundation
