机器人的操作器本体动力学模型及工件动力学模型

Dynamic Models for the Manipulator Body and for Clamped Objects

为解决机器人夹持不同工件引起工件运动学、动力学参数发生突然变化时,机器人动力学的“数字一符号”模型完全失效的严重问题,本文提出了机器人的操作器本体动力学模型和工件动力学模型.文中表明采用上述模型并选用端部执行器的局部坐标系作为参考坐标系,可大幅度降低机器人动力学模型的计算机辅助生成及求解的运算次数.

For the purpose of solving the serious problem with the numeric-sym-boiic method, which arises from sudden changes in the kinematic and dynamic parameters of the end-effector in picking up different objects, dynamic models for the manipulator body and for objects clamped by the robot have been developed. It is shown that the number of operations in computer-aided generation and in solving the process of the dynamic models can be significantly reduced by choosing the local coordinate system attached to the end-effector as a reference coordinate system.