解析模型法及其建模的自动生成程序系统

Analytical Model Algorithm and the Automated Modelling of Robot Dynamics

本文基于机器人动力学的解析(数字—符号)模型算法,在计算机上自动生成动力学模型的元素,研制出用于自动形成并输出机器人动力学模型实时代码的计算机辅助生成软件——自动生成程序系统,该系统采用了新的更有效的多项式优化算法及改进的代码输出程序,从而大大地提高了运算速度及导致最少的浮点加减乘除数,如用于仿真时还具有图形接口及动画显示功能。

Based on an improved analytical (numeric--symbolic) model algorithm, a softwarePackage for the automated modelling of robot dynamics is developed. Motion equations of robot in ana-lytical form are derived automatically by a computer, and the software can also generate real--timecode for dynamic model automatically on cornputers. In the software a more effective optimal operationof polynomials is adopted, and the modus for output real--time code improved, thus resulting in the min-jmization of the number of floating point multiplications/additions and the improvement of operatingspeed. With a graphical interface, the package can also be used for real--time simulation and graphics ren-dering of robot dynamics.