摘要
依托matlab符号函数工具箱,编写了用于计算平面任意多连杆机器人动力学公式的程序.并以七连杆机器人为例.由本程序计算得到七连杆机器人的动力学公式,并作了数值仿真,仿真的结果与实际较为符合.本方法简便、高效,与现代计算机技术的发展契合,也为后续的机器人控制奠定基础.
Based on the matlab symbolic toolbox, a program for calculating the dynamics formula of any planar multi - link robot is compiled. And take the seven link robot as an example. The dynamic formula of the seven link robot is calculated by this program, and the numerical simulation is carried out. The simulation results are in good agreement with the reality. This method is simple, efficient and compatible with the development of modern computer technology. It also lays the foundation for the follow - up robot control.
作者
王航
Wang Hang(Xi＇an Railway Vocational and Technical Institute,Xi＇an,Shaanxi 710026,China)
出处
《西安铁路职业技术学院学报》
2018年第3期28-32,51,共6页
Journal of Xi’an Railway Vocational & Technical Institute
