摘要
基于Kane动力学方程,导出了负载与操作机分开,并具有封闭形式的机器人动力学通用算法。该法适用于开、闭链机构的机器人动力学研究;便于用计算机推导机器人操作机的动力学数一符方程。给出了该算法及其证明,并讨论了该算法的性质及特点。
Based on the Kane's equation, a new general robotic dynamical algorithm, in which load-manipulator is divided, has been presented. The algorithm with closed-form is efficient in solving the dynamical problems of manipulator with closed-chain or opcned-chain, and generating the dynamical numeric-symbolic model of manipulator by computer. The algorithm has been derived and the characters of the algorithm has been discussed.
出处
《北京科技大学学报》
EI
CAS
CSCD
北大核心
1990年第3期250-256,共7页
Journal of University of Science and Technology Beijing
关键词
机器人
动力学
算法
操作机
负载
manipulator, dynamic, algorithm, numeric-symbolic
