摘要
对伪速度进行了分类分析,给出了其物理含义,并对基于伪速度的动力学建模方法进行分析,比较了各个方法的计算量.以基于空间算子代数的对角化拉格朗日动力学方程为例,对由N个体组成的链式机械臂系统的动力学建模过程进行推导.与传统的方法相比,该方法计算过程具有占用计算机内存空间少、计算效率高的特点.基于伪速度的动力学建模方法为更好地解决当前复杂机械系统的动力学建模过程复杂及计算效率不高的难题提供了有效解决途径,为实时仿真、控制奠定了基础.
Quasi-velocities were analyzed by classification,and its physical meaning was given.The computation amount of dynamics model methods base on quasi-velocities was compared.The chain manipulator system dynamics modeling process of N bodies was derived by diagonal Lagrange dynamic equation based on spatial operator.The computational efficiency of calculation method with less computer memory space is higher than traditional methods.This method can provide effective solutions to better solve the complex process of dynamic modeling and lay a foundation for real-time simulation and control.
出处
《华中科技大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2011年第12期25-28,共4页
Journal of Huazhong University of Science and Technology(Natural Science Edition)
基金
国防科工委十一五预研项目
国家自然科学基金资助项目(50375071)
关键词
伪速度
动力学建模
计算量
高效率
程式化
quasi-velocities
dynamic model
computational amount
high efficient
stylized
