冗余度变几何桁架机器人动力学计算

The Dynamic Computation of Redundant Variable Geometry Truss Robots

应用模糊神经网络对机器人逆动力学模型进行辨识 ,将整个动力学模型系统分为三个子系统 ,分别采用三个模糊神经网络系统对广义质量矩阵、向心力及哥氏力矩阵和重力矩阵进行学习 ,求解了冗余度四面体变几何桁架机器人的逆动力学问题 ,并对四重四面体的变几何桁架机器人进行了仿真计算。

In this paper,a dynamic model of robots are investigated based on fuzzy neural network(FNN).The dynamic model system is divided into three subsystems. The inertial matrix, centrifugal and Coriolis matrix, gravity matrix are trained respectively by using three fuzzy network models, and then the solutions to inverse dynamic model problem can be obtained. Finally , the simulation calculation of dynamics for a four celled tetrahedron-tetrahedron variable geometry truss manipulator is given for illustration.