摘要
本文应用6×6转换阵,6维铰基矢阵导出操作臂雅可比阵,并应用子系统牛顿欧拉递推法解出了带回路操作臂的动力学.具有方程数少,递归及程式化计算,易于工程应用,便于推广到解复杂机器人运动学、动力学.并以5杆回路操作臂为例作了程式化计算.
A 6×6 transformation matrix or screw-matrix, and the joint mode vectors in R^6, are applied to derivethe manipulator Jacobian matrix compactly. And the Subsystem Newton-Euler recursive method basedon the aforementioned matrixes and the Graph theory are applied to solve dynamics problems ofmanipulators with loops. The method can be used easily and expansively in Engineering because of itssimplicity, recursive computation and forming state-space dynamic equations automatically. It also can beeasily adjusted to the kinematics and dynamics or complicated multiarm robots. As an example, formingthe dynamics of a five-link manipulator with one loop is presented at last.
出处
《机器人》
EI
CSCD
北大核心
1991年第3期12-18,39,共8页
Robot
关键词
矩阵
操作臂
运动学
动力学
机器人
kinematics and dynamics of manipulator
Newton-Euler recursive method
graph theory