旋量法在机器人动力学分析中的应用*
Application of Spinor Method to the Dynamic Analysis of Robot
-
摘要: 本文用旋量方法研究机器人的动力学模型,将速度和角速度,力和力矩的内在联系有机地融合为一体,使Newton-Euler方法更加简明有效率。文中相对于机器人各臂质心建立参考系,使惯性张量和质心加速度计算简化,进一步减少计算量,达到快速实时计算。Abstract: A method known as spinor method is applied to the study of dynamic model of robot.It merges velocity and angular velocity.Force and moments into an organic whole by their internal relation, and mates Newton-Euler method more concise and efficient.A reference system is formed with respect to the mass center of the arms of robot, which simplifies the calculation of inertial lensor and mass center acceleration.And further reduces work load in calculation, and thus ensures a fast real-time calculation.
-
Key words:
- robot dynamics /
- spinors /
- Newton-Euler method
-
[1] R. P. Poul, Robot Manipulators: Mathematics Programming and Control, the MIT Press (1981). [2] J. Y. S. Luh,et al., On-line computational scheme for mechanical manipulators, Trans. ASME, Journal of Dynamic System, Measurement and Control,102, 2 (1981), 69-71. [3] U. M. Hbllerbach, A recursive lagrangian formulation of the manipulation dynamics and comparative study of dynamic formulation, LEES Trans. On System, Man and Cybernetics,10, 11 (1980), 730-736. [4] C. S. G. Lee,et al., Development of the generalized D'Alembert equation of motion for mechanical manipulators, Proceedings of the 22nd conference on decision and control, Son Antonio Texas (1983), 14-16. [5] 刘延柱等,《多刚体系统动力学》,高等教育出版社(1989), 165-194 -
点击查看大图
计量
- 文章访问数: 1804
- HTML全文浏览量: 59
- PDF下载量: 518
- 被引次数: 0
下载:
