摘要
研究机器人动力学的目的是多方面的。机器人动力学模型的重要应用是设计机器人,因为动力学方程可以用来精确地算出实现给定运动所需要的力(矩)。用凯恩方法对六自由度关节臂式机器人进行动力学方程的推导,可以减少计算步骤,提高计算效率。经过对推导的动力学方程仿真可以找到现场使用机器人第三个臂出现故障的原因,因此在机器人具体设计、轨迹规划、动力学优化以及实时控制中可以代入具体的参数,从而对机器人的动力学性能进行分析,并具有通用性。
The aim of studying to the robot is various. The important applications of the robot dynamics model is designing robot because the dynamics can been used to accurately calculate the need moment of achieve designed motivation. Using method of Kane derivates the dynamics equation of the six-freedom jointed-arm robot can reduce the steps of calculation and increase calculating efficiency. Through the simulating of derivate dynamics equation, the reason of the third arm of using robot on site can be found out. So it can be replaced the frondose parameter in robot＇s designing, track programming, dynamics optimizing and real-time controlling. by use and simulate. Also it can analyzing the robot＇s dynamics capability and has universality.
出处
《微计算机信息》
北大核心
2008年第29期222-223,196,共3页
Control & Automation
关键词
动力学方程
力矩
仿真
实时控制
dynamics equation
moment
simulation
real-time control
