作为状态变量函数的机械臂驱动力矩

DRIVING MOMENT OF ROBOT ARMS AS FUNCTIONS OF STATE VARIABLES

本文提出了把机械臂驱动力矩表示为状态变量函数的方法，并以两杆刚性机械臂为例讨论了该方法的应用．

This paper presents a new method to express the driving moment of robot arms as a function of state variables. A two link rigid robot arm is considered to illustrate the application of the method.