应用旋量理论建立闭链机器人的动力学方程

A New Method for Establishing the Dynamic Equation of a Closed-Chain Manipulator Based on Screw Theory

提出了应用旋量理论和 L agrangian方程建立闭链机器人动力学方程的一种方法 ,并以 FANUC机器人为例 ,阐述了该方法的具体步骤。

A new method is presented for establishing the dynamic equation of a closed-chain manipulator based on Lagrangian equation and screw theory,which is illustrated in formulating the dynamic equation of a FANUC robot.