期刊文献+

一种自主研磨作业机器人动力学仿真

The dynamics simulation of an autonomous grinding robot
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摘要 研究了一种由直角坐标机构、转动机构和摆动机构构成的自主研磨作业机器人的运动学和动力学分析,以支链构件相对坐标和动平台绝对坐标作为广义坐标,结合Lagrange方法建立了运动学和动力学模型,并利用Matlab软件平台进行了运动学及动力学仿真,仿真结果说明了该模型的正确性与实效性,进而为自主作业机器人的轨迹规划及控制研究提供参考。 T he kinematics and dynamics analysis of an autonomous grinding robot consisted by rectangular coordinates agencies ,rotating mechanism ,and swing mechanism in this paper .The branched-chain member coordinates and moving platform absolute coordinates are used as generalized coordinates .T he kinematics and dynamics models combining with Lagrange method ,and kinematics and dynamics simulations have been made to by using Matlab software platform .The simulation results show the correctness and the effective-ness of the proposed models .Furthermore ,they are the very valuable references for contrail plan and mo-tion control design of the autonomous robot .
作者 王文忠
出处 《长春工程学院学报(自然科学版)》 2014年第3期30-33,共4页 Journal of Changchun Institute of Technology:Natural Sciences Edition
基金 吉林省重点科技攻关项目(20140204011GX)
关键词 移动机器人 运动学仿真 动力学仿真 拉格朗日方程 mobile robot kinematics simulation dynamics simulation the Lagrange's equation
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参考文献4

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