一种新的机器人动力学算法

A Further Study on Kane's Equations Approach of Robots Dynamics

本文在文献的基础上,对自行推导的基于凯恩方程的机器人动力学递推算法作了进一步改进和完善。改进后的算法很易于计算机实现,而且不仅适用于全旋转关节机器人,也适用于既含旋转关节又含移动关节的机器人,还可以不经拆链就能较方便地解决含有闭链结构的机器人动力学问题。本文将该算法与传统的几种动力学算法在计算效率方面进行了比较。

In this paper, the further work and improvement about a new dynamics algorithm of robots—Kane's equations algorithm of robots is presented based on the paper's authors previous work. The algorithm can be easily realized on computers. It is suited not only for robots with all rotatory joints but also for robots with some prismatic joints. And without cutting the closed chains it is easy to solve the dynamics problems of robots containig closed chains. The computational efficiency of this and other conventional dynamics algorithms are also compared in the paper.