摘要
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．文中相对于机器人各臂质心建立起参考系，从而简化了惯性张量和质心加速度的计算，达到快速、实时的目的．
A dynamic model of robot was studied by spinor method, which integrates velocity and angular velocity, force and moment into an organic whole and makes Newton-Euler method more concise and efficient.Relative to the mass center of each arm of a robot, a reference system is set up, which simplifies the calculation of inertial tensor and mass center acceleration and reduces the work load of calculation and thus ensures a rapid and real-time calculation.
出处
《华侨大学学报（自然科学版）》
CAS
1996年第1期46-51,共6页
Journal of Huaqiao University(Natural Science)
