摘要
转动惯性张量是机器人动力学计算中的一个重要的物理量,本文用严格的数学方法推导并证明了一个刚体在两个共原点坐标系间转动惯性张量的变换公式,从而得出刚体从某一特定坐标系中的转动惯性张量来计算其它共原点坐标系中转动惯性张量的计算方法.
Rotating inertial tensor is an important physical quantity in robot dynamics.In this paper a transforma-tion formula of rotating inertial teusor between two coordinate systems with the same origin is proved instrict mathematical method.And a general transformation approach of rotating inertial tensor from partic-ular coordinate system to another with the same origin is presented.
出处
《机器人》
EI
CSCD
北大核心
1992年第2期31-35,共5页
Robot
关键词
机器人
转动惯性张量
坐标变换
robot
rotating inertial tensor
coordinate transformation
