摘要
本文根据一种五自由度工业机器人的动力学参数的符号表达式,获得了非直接驱动的机器人动力学模型.并根据特定工况,分析了参数变换情况,在此基础上得出了简化模型,论证了简化控制的合理性和可能性.
In this paper,the symbolic representations of dynamic parameters for a industrial robot with five de-grees of freedom are derived and therefore a full set of dynamic equations are obtained.According tospecific working circumstances,the variations in parameters are checked,and hence the simplified modelis developed,and the rationality and feasibility of simplified control method are discussed.
出处
《机器人》
EI
CSCD
北大核心
1989年第4期12-16,共5页
Robot
关键词
机器人
动力学
工作空间
自由度
Lagrange equation
variablc incrtia
working space
motion construction
