Application of Spinor Method to the Dynamic Analysis of Robot

Lin Ruilin; Jiang Shaoyin; Lin Bi

Article Contents

Article Navigation > Applied Mathematics and Mechanics > 1996 > 17(1): 75-80

Lin Ruilin, Jiang Shaoyin, Lin Bi. Application of Spinor Method to the Dynamic Analysis of Robot[J]. Applied Mathematics and Mechanics, 1996, 17(1): 75-80.

Citation:

Lin Ruilin, Jiang Shaoyin, Lin Bi. Application of Spinor Method to the Dynamic Analysis of Robot[J]. Applied Mathematics and Mechanics, 1996, 17(1): 75-80.

Citation:

Lin Ruilin, Jiang Shaoyin, Lin Bi. Application of Spinor Method to the Dynamic Analysis of Robot[J]. Applied Mathematics and Mechanics, 1996, 17(1): 75-80.

PDF( 345 KB)

Application of Spinor Method to the Dynamic Analysis of Robot

Department of Prec.Mech.Eng., Huaqiao Univ., Quanzhou 362011, Fujian P.R.China

Received Date: 1994-08-03
Publish Date: 1996-01-15

Abstract

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.
- robot dynamics,
- spinors,
- Newton-Euler method

FullText(HTML)

References(5)

References

[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