摘要
移动式工业机器人操作臂是一个复杂的动力学系统,它通常由6个连杆和6个关节组成,具有多个输入和输出,存在着错综复杂的非线性耦合关系。从构造操作臂的雅可比矩阵入手,由系统功能出发,建立了机器人动力学方程,分析了动力学正反两个方面问题。
The arm of a mobile industrial robot is a complex dynamic system,which consists of six links and six joints,has multi-inputs and multi-outputs and involves complicated coupling and nonlinearity.The paper establishes the Jacobean matrix on the arm and the dynamic equation(dynamic model),and then analyzes the forward and inverse solution on dynamics.
出处
《机械工程与自动化》
2004年第1期38-40,共3页
Mechanical Engineering & Automation
