机器人动力学Lagrange方程计算的内积法

用拉格朗日动力学第二类方程建立机器人动力学算法,是一种常用的,行之有效的方法,但是,计算起来很繁。Pual引入平移和旋转微分向量进行化简,最后得到了近似解。 本文在用拉氏方程得到机器人动力学算法的基础上,引进线性空间的内积概念得,到内积法,并用它来计算我院机器人ROBOT—1的动力学方程,可使计算大为简化。

The Law of Inner Product of Computation for Robot Dynamics in Lagrange Equation

Using Lagrange the second type equation of mechanics to set up computation of robot dynamics is an effective method that used frequently. But it is quite acomplicated one.It must be simplified being introduced differential translation and differential rotation by pual,and an approximate solution is obtained at last.In this paper,on the base of the Lagrange equation of the dynami- cs in the computation method,the concept of inner product in the linear space can be introduced and the law of inner product can be obtained too. The quite a simplicated equation can be apply to compute the dynamic equation of robot-1 in our university