摘要
研究了机械臂系统动力学方程的数值解法。通过拉格朗日方程建立了考虑关节弹性变形的双连杆机械臂系统动力学方程。由于系统中存在着高频振荡，使微分方程变为难解的高阶层非线性微分方程组。本文对此方程组采用四阶龙格－库塔法进行数值分析，得到了较好的数值结果。
The paper is about the numerical solution of the equation of robotic arms system.Based upon the Lagrange′s equation,the dynamic equation of the two robotic arms system with elastic joint has been established.Because the high frequency oscilation exists in the system,the differential equation becomes very difficult.In this paper the author uses Runge kutta method to solve the problem.A satisfactory result is reached.
