对广义达朗贝尔运动方程的一点补遗

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基金项目: 国家自然科学基金(19702006)

The Addendum for the Generalized d’Alembert Equations of Motion

School of Science, Nanjing University of Science and Technology, Nanjing 210094, P R China

摘要: 对传统的广义达朗贝尔运动方程作了两点推广:1)考虑含有移动关节的情形;2)把方程的适用范围由单链系统推广到树形系统.
- 机器人 /
- 动力学 /
- 广义达朗贝尔方程
Abstract: In this paper,the traditional generalized d'Alembert equations of motion(G_D) in the field of robot dynamics are extended to the circumstances as follows:1 Considering the robots not only with rotary joints but also with translational joints.2 Extending the application range of the G_D dynamic equations from the simple chained robots to the tree-structured robots.
- robot /
- dynamics /
- generalized d’Alembert equations

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