| 机器人动力学的快速算法 |
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| 引用本文： | 林瑞麟 蒋少茵. 机器人动力学的快速算法[J]. 华侨大学学报(自然科学版), 1996, 17(1): 46-51 |
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| 作者姓名： | 林瑞麟 蒋少茵 |
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| 作者单位： | 华侨大学精密机械工程系 |
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| 摘 要： | 用旋量方法研究机器人的动力学模型，将速度和角速度，力和力矩的内在联系有机地融合为一体，使Ｎｅｗｔｏｎ－Ｅｕｌｅｒ方法更加简明有效。文中相对于机器人各臂质心建立起参考系，从而简化了惯性张量和质心加速度的计算，达到快速，实时的目的。
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| 关 键 词： | 机器人 动力学 旋量 牛顿－欧拉法 |
Spinor Method in Dynamics of Robot |
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| Lin Ruilin, Jiang Shaoyin, Lin Bi. Spinor Method in Dynamics of Robot[J]. Journal of Huaqiao University(Natural Science), 1996, 17(1): 46-51 |
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| Authors: | Lin Ruilin Jiang Shaoyin Lin Bi |
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| Abstract: | A dynamic model of robot was studied by spinor method, which integrates velocity and angular velocity, force and moment into an organic whole and makes Newton-Euler method more concise and efficient.Relative to the mass center of each arm of a robot, a reference system is set up, which simplifies the calculation of inertial tensor and mass center acceleration and reduces the work load of calculation and thus ensures a rapid and real-time calculation. |
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| Keywords: | dynamics of robot spinor Newton-Euler method |
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