冗余度机器人机构动力学仿真的高效优化方法

本针对冗余度机器人机构满足最佳广义驱动力优化问题的动力学仿真方法进行研究。首先,引入广义杆及其质量特征量。将动力学方程中惯性系数矩阵和哥氏力离心力及重力项的计算转化为广义杆关节广义驱动力的计算;其次,引入ｌａｇｒａｎｇｉａｎ乘子,在动力学仿真算法中避免了矩阵的奇异值分解（ＳＶＤ）。本方法具有递推性强,计算效率高等特点,适合于冗余度机器人的实时控制。

High-speed Optimal Method to Dynamics Simulation of Redkundant Robotic Mechanisms

In this paper,based on the minimization of the joint generalized driving forces,the optimal method to dynamics simulation of redundant robotic was researched.First,by using the generalized link and it's mass characteristics,the calculationof inertia parameters matrix.Coriolis and centrifugal and gravity terms are transformed into the calculation of joint generalized driving forces of the generalized link.Then,introducing the method of Lagrangian multipliers,the Singualar Value Decomposition(SVD) method of matrices is avoided in the course of dynamics simulation.Our method has fine recursive and efficient of calculation.which is suitable for the real time control of redundant robotic.