| 负载与操作机分开的机器人动力学算法 |
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| 引用本文： | 孙昌国,马香峰.负载与操作机分开的机器人动力学算法[J].北京科技大学学报,1990,12(3):250-256. |
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| 作者姓名： | 孙昌国 马香峰 |
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| 作者单位： | 北京科技大学机器人研究所
(孙昌国)，北京科技大学机器人研究所(马香峰) |
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| 摘 要： | 基于Kane动力学方程,导出了负载与操作机分开,并具有封闭形式的机器人动力学通用算法。该法适用于开、闭链机构的机器人动力学研究;便于用计算机推导机器人操作机的动力学数一符方程。给出了该算法及其证明,并讨论了该算法的性质及特点。
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| 关 键 词： | 机器人 动力学 算法 操作机 负载 |
The Robotic Dynamical Algorithm by Divided Load-Manipulator |
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| Sun Changguo Ma Xiangfeng Robotics Institute.The Robotic Dynamical Algorithm by Divided Load-Manipulator[J].Journal of University of Science and Technology Beijing,1990,12(3):250-256. |
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| Authors: | Sun Changguo Ma Xiangfeng Robotics Institute |
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| Institution: | Sun Changguo Ma Xiangfeng Robotics Institute |
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| Abstract: | Based on the Kane's equation, a new general robotic dynamical algorithm, in which load-manipulator is divided, has been presented. The algorithm with closed-form is efficient in solving the dynamical problems of manipulator with closed-chain or opcned-chain, and generating the dynamical numeric-symbolic model of manipulator by computer. The algorithm has been derived and the characters of the algorithm has been discussed. |
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| Keywords: | manipulator dynamic algorithm numeric-symbolic |
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