| 用凯恩法建立机器人通用动力学数式模型 |
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| 引用本文： | 彭商贤,王刚.用凯恩法建立机器人通用动力学数式模型[J].天津大学学报(自然科学与工程技术版),1987(3). |
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| 作者姓名： | 彭商贤 王刚 |
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| 作者单位： | 天津大学智能机械研究所
(彭商贤)，天津大学智能机械研究所(王刚) |
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| 摘 要： | 本文以动力学的凯恩方程为基础建立机器人的动力学数式模型。文中运动学分析部分保留了牛顿算法的某些优点。而后利用偏速度矢量、偏角速度矢量、广义主动力和广义惯性力等概念建立系统的动力学方程。本动力学方程适合于机器人动力学正、反解问题,算法简洁,便于计算机编程计算。
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| 关 键 词： | 机器人 机构学 动力学 |
STUDY ON THE CONSTRUCTION OF DYNAMIC EQUATIONS OF GENERAL ROBOTS BY KANE'S METHOD |
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| Peng Shangxian Wang Kang.STUDY ON THE CONSTRUCTION OF DYNAMIC EQUATIONS OF GENERAL ROBOTS BY KANE'S METHOD[J].Journal of Tianjin University(Science and Technology),1987(3). |
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| Authors: | Peng Shangxian Wang Kang |
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| Institution: | Research Institute of Intelligential Machine |
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| Abstract: | This paper presents a method of constructing mathematical models of robot dynamics by Kane's dynamics. The advantages of Newtonian algorithm are remained in the kinematical analysis of this method. Dynamic equations can be used to solve the direct and inverse problems of robot dynamics and can be readily converted into computer programs for numerical calculation. |
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| Keywords: | Robot Mechanism Dynamics |
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