摘要
由于大型自由漂浮的树形空间机器人系统自由度数多、拓扑结构复杂难以描述,且其本体与操作臂之间存在强烈的耦合作用,因此系统的运动学和动力学的建模过程复杂且效率不高。将树形空间机器人系统划分为基座固定的机器人系统及基座浮动且关节锁定的机器人系统两部分,可以避免分析本体与操作臂之间的耦合运动。结合旋量理论与递推算子可以直接得到易于计算机编程实现的广义雅可比矩阵。整个计算过程简单、效率高。
For more degree of freedom, complex topology and high couphng between base anct manipulator, the kinematics and dynamics of large free-floating branching robot system are difficult to analyse. A free- floating branching robot system was researched by dividing into two parts, ground robot of fixed base and locking joint robot of floating base. Then it can avoid the analysis of the coupling between base and manipulator, so the Jacobian matrix can be achieved simple and efficiency. And the computional efficiency is improved by the methods of combining screw and recursive operator, which is the foundation of the dynamics.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2010年第11期1275-1277,1347,共4页
China Mechanical Engineering
基金
国家自然科学基金资助项目(50375071)
国防科工委"十一五"预研项目(C4220062501)
关键词
旋量
递推
自由漂浮
树形
雅可比矩阵
screw
recursive
free- floating
branching
Jacobi matrix
