SCARA机器人的完整动力学显方程的推导

Derivation of an Complete and Explicit Dynamic Equation of a SCARA Robot

机器人学的研究者经常要用到机器人动力学显方程来验证理论或比较算法，然而机器人的准确的动力学显方程是很难获得的；ＳＣＡＲＡ机器人是一种简单而又应用广泛的机器人。为此，本文利用拉氏方法推演出了ＳＣＡＲＡ机器人的完整的动力学显方程，并对方程中大量零元素的现象作了解释。

Researcherson robotics often hope to use the explicit and accurate equation of arobot to verify their theories or compare algorithems,but such equation is very difficult toderive;and SCARA robots are simple and widely-used.In this paper the explicit and accurate equation ofa SCARA robot is derived by means of Lagranglan equation and it is explained that a large number of zero elements appear in that matrix equation.