摘要
对刚性、串联、开环的机器人进行了动力学分析 ,建立了一般机器人的拉格朗日动力学模型 ,推导了拉格朗日方程两边的计算过程 ,编制了自动建立多自由度机器人动力学模型的计算机程序 ,并与实际相结合 ,分析了所研制的六自由度手控器的运动学动力学问题 。
In this article, the dynamics of open-chain rigid robotic manipulators is discussed. The Lagrangian dynamical modeling of general robot is developed. The calculating process of Lagrangian equation is derived and the program of deriving the dynamical modeling of multi-robot automatically is developed. The article puts the deveolped model into practice and discusses the kinematic and dynamic of 6 DOF master arm that has a real value in practice.
出处
《郑州工业大学学报》
2001年第2期12-15,共4页
Journal of Zhengzhou University of Technology
基金
国家 8 6 3基金资助项目 (86 3- 2 - 5 - 2 - 3)
