机器人运动分析和动力学建模的一种简明方法

A CONCISE METHOD OF KINEMATIC ANALYSIS AND DYNAMIC EQUATION DERIVATION FOR ROBOTS

文章提出并讨论了一种利用旋转矩阵的导数矩阵分析机器人运动和推导机器人动力学模型的方法。文中推证的一组刚体旋转矩阵与角速度矢的关系式是该方法的基础。所提方法在文中的运用表明，它可以取代以往过于繁琐的图解法和递推法，成为一种简明有效的机器人运动分析和动力学建模方法。作为该法运用结果。文中分别给出了ｎ自由度机器人雅可比矩阵和动力学模型的一种简明封闭式。这里的方法可作为一般刚体运动分析和动力学建模理论的补充。

This paper presents and discusses a method of kinematic analysis and dynamoic equation derivation for robots by using the derivative matrices of their rotation matrices. The method is based on a set of equations of rotation matrices and angular velocity vectors which have been proved in the paper. The use of the method in the paper shows that it can replace the conventional,too complex method of diagram or recurrence as a concise one of kinematic analysis and dynamic equation derivation for robots. As a result of using the method, we have separately given a concise close form of expression of Jacobian matrix and dynamic equation for a general robot that consists of n links and has n drgrees of positional freedom,which are of certain value. The presented methods here can be generally regarded as a supplement of the theory of kinematic analysis and dynamic equation derivation for rigid bodies.