机器人动力学分析的完全笛卡尔坐标方法

The fully Cartesian coordinates method for the dynamic analysis of robots

应用完全笛卡尔坐标的方法研究机器人动力学问题。这种方法是利用参考基点的笛卡尔坐标和参考基矢量的笛卡尔分量描述物体的位置与姿态。由于在提高计算效率方面的突出优点而受到重视。以空间五自由度机器人为例 ,通过仿真计算表明该方法在求解机器人动力学问题上是有效的。

The dynamic problems of robot is studied in this paper by applying the fully cartesian coordinates method.This kind of method describes the position and attitude of objects by utilizing Cartesian coordinates of reference base points and Cartesian components of reference base vector.Great importance has been attached to this method due to the outstanding advantage in the respects of enhancing computational efficiency.Taking the spatial robot of 5DOF as an example and via simulative computation this paper shows that this method is effective on the solution of dynamic problems of robots.