摘要
本文用Lagrange—Euler方法建立了上海Ⅱ号工业机器人动力学模型,对机器人在关节坐标空间内轨迹规划运动时的各关节力矩特性进行了仿真,绘制出了各关节力矩变化曲线,为机器人的动态特性分析和机器人控制提供了可靠的依据。本文的动力学计算和数字仿真均在APOLLO CAD工作站上用C语言实现。
In this thesis, the dynamics model of Shanghai Industrial Robot Ⅱ is built by means of Lagrange-Euler equations. The articulate torque performances of SIR—Ⅱ are simulated in the motion of articulate coordinate space. The reliable evidence is presented for the dynamics analysis and control of robots. All the dynamics calculation and digital simulation are implemented in C computer language on the APOLLO CAD workstation.
关键词
工业机器人
动力学建模
仿真
industrial robot
dynamics modelling
simulation
