摘要
动力学分析对机器人的控制以及动态分析有着重要作用,针对六自由度喷涂机器人动力学分析运算量大,影响后续控制实时性的问题,提出一个优化的化简动力学方程的方案,运用拉格朗日方法建立机器人的动力学方程并针对计算结果进行有理由的化简。为了验证简化结果的可靠性,应用MATLAB软件对化简前后的模型进行仿真。结果证明,经过化简的动力学方程仿真所得力矩曲线与化简前所得曲线重合度高,这表明化简模型具有极高的可靠性。
Dynamics analysis plays an important role in control of the robot and dynamic analysis of 6 DOF spraying robots.Specific to the great computation in dynamics analysis of the robot and the impact on subsequent control of real-time,an optimal scheme for simplified dynamics equation is presented in it,i.e.using Lagrange method to establish the robot dynamics equation,which calculation results shall be simplified well-founded.In order to verify the reliability of the results,simulation for the model before and after simplification is carried out by application of software MATLAB,which results show that the torque curve got from simplified dynamics equations is coincident almost with the curve got before simplifying.The high reliability of simplified model.
出处
《机械设计与制造》
北大核心
2012年第1期169-171,共3页
Machinery Design & Manufacture
基金
国家863重点课题资助项目(2009AA043901-3)
粤港关键领域联合招标项目(20090101-1)
广州白云区科技攻关项目资助(2009-S2-46)
