摘要
移动式工业机器人的操作臂是一个复杂的动力学系统,它由6个连杆和6个关节组成,具有多个输入和输出,存在着错综复杂的耦合关系和严重的非线性。论文从构造操作臂的雅可比矩阵入手,从系统功能的观点出发,建立机器人动力学方程,分析动力学正反两个方面问题。
The arm of a mobile industrial robot is a complex dynamic system, which consists of six links and six joints, has multi - inputs and multi - outputs and involves complicated coupling and inline. This paper begins by constructing the Jacobean matrix on the arm. The robot dynamic equation (dynamic model) is based on energy. The key point is to analyze the relative problems on dynamics.
出处
《茂名学院学报》
2003年第3期50-53,共4页
Journal of Maoming College
