机器人动力学Lagrange方程的新形式及其算法研究

A NEW EXPRESSION OF THE LAGRANGE FORMULATION INROBOT DYNAMICS AND ITS ALGORITHM INVESTIGATION

本文给出了 Lagrange-Eulcr 方程在机器人动力学分析中的一种新的表达形式,研究了这种新形式在多自由度机器人动力学分析与计算中的实用算法,并讨论了算法的计算效率.

A new expression of the Lagrange-Fuler formulation robot dynamics is derived in this paper.Itsalgorithms for performing the dynamical analysis and calculation of a Mu(?)-DOF robot are developed.And the comptutation efficiency of the algorithms is fully dissuss.