机器人机构建模的几何方法

Geometric methods in the modeling of robot mechanisms

讨论了经典力学系统中拉格朗日方程的黎曼几何表示(黎曼流形上的牛顿力学)和力学系统拓扑图表示之间的关系,作为应用,讨论了机器人系统的拓扑图表示和动力学模型计算等,与已有的机器人动力学分析办法相比,基于黎曼几何和拓扑图表示方法的动力学分析更加简便,更加适合机器人动力学机械化(自动)建模.

The relationship between the Riemannian geometric framework of Lagrange equation and the topology graph representation of classic mechanical systems is discussed. As the example, robot mechanism is considered, in eluding the topology graph representation, computation of the mathematical model. This method based on Riemann geometry with simpler formulation is more suitable for computer-aided modeling and dynamic analysis.