| 拟人多关节假手动力学的计算机模拟 |
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| 引用本文： | 吴俊,林良明,高忠华.拟人多关节假手动力学的计算机模拟[J].上海交通大学学报,1988(5). |
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| 作者姓名： | 吴俊 林良明 高忠华 |
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| 作者单位： | 上海交通大学精密仪器系，上海交通大学精密仪器系，上海交通大学精密仪器系 |
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| 摘 要： | 本文主要讨论确定假手各关节转角(广义坐标)的变化规律,提出了一种反馈补偿算法。这种算法的实质是利用计算机来进行假手几何模型的数值求解。研究表明,该方法具有速度快、精度高等优点,可以广泛适用于不同参数、不同结构的假手计算。
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| 关 键 词： | 计算机模拟 动力学 假手(机械手) 同馈补偿算法 机器人技术 |
Computer Simulation of Multi-joint Manipulator Dynamics |
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| Wu Jun Lin Liangming Gao Zhonghua.Computer Simulation of Multi-joint Manipulator Dynamics[J].Journal of Shanghai Jiaotong University,1988(5). |
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| Authors: | Wu Jun Lin Liangming Gao Zhonghua |
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| Institution: | Wu Jun Lin Liangming Gao Zhonghua |
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| Abstract: | The problem of dynamics and control of multi-joint manipulators is veryimportant in the study of multi-function manipulators and robot techniques.This paper mainly discusses the method of determining the law of motion ofeach joint angle(generalized coordinates),and presents a feedback-compensationalgorithm,the purpose of which is to solve the geometric model of themanipulator numerically dycomputer.The study shows that this method hashigh efficiency and accuracy,and can be widely used in various manipulatorswith different parameters and configurations. |
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| Keywords: | computer simulation dynamics manipulator feedback compensation algorithm robot techniques |
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