摘要
本文以Ｋａｎｅ 动力学方程为基础，给出了一种分析和计算具有开链和闭链混合机构的机器人的动力学逆问题的新方法．通过划分逻辑开链计算速度和加速度；求出广义速度之间的偏导数后，算出偏速度；根据偏速度用Ｋａｎｅ 方程得到各杆的驱动力或力矩．计算过程具有递推性、规范性，便于计算机编程，也比较简洁易懂．
Based on the dynamic concept of Kane′s method,a new method is presented for the analysis and computation of the inverse dynamics of robots with the hybrid open and closed chain mechanism.Logic open chains are divided, on which the velocities and the accelerations are calculated. The Partial velocities are derived with the velocities and the particle derivatives of generalized velocities. The driving forces or monuments are obtained finally through the Kane′s equation. The recursive standard computation is so plain and terse that is can be realized in a computer easily.
出处
《机器人》
EI
CSCD
北大核心
2000年第1期1-6,共6页
Robot
