摘要
建立机器人系统（非完整系统）动力学的正则方程。分析机器人动力学数值计算中的积分误差与误差累积的原因，将正则方程与辛格式积分密切结合，消除动力学计算的误差累积，保证计算精度。
In this paper the geometric mean-ing of dynamics of robot system is expounded,the error accumulation for the known algorithmis analyzed and the cause of 'energy consump-tion'is revealed. The relationship between coeffi-cients of dynamic equation is derived so as to es-tablish the canonical equations. The error accu-mulation of dynamics can be eliminated by usingcanonical equation and Symplectic integralmethod so that the computational accuracy canbe ensured effectively.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
1997年第5期72-74,共3页
China Mechanical Engineering
基金
国家教委博士点基金
