质心坐标系的拉格朗日方程

Lagrange Equations for Coordinate Frame at Center of Mass

传统的机器人动力学建模是在关节轴线建立附体坐标系，本文采用质心附体坐标系，推导并建立了机器人的拉格朗日动力学模型，以平面两杆机械手为例证明该方法较之传统坐标系的方法在简化计算上具有明显优越性．

Coordinate frame fixed in link of robot used to be assigned at each joint axis. Inthis paper, coordinate frame is attached to mass center of links, and Lagrange equations arederived. Results of a plane two-link robot arm are presented.