树形多刚体系统的拉格朗日动力学

本文将无分支开链机器人机构的拉格朗日动力学推广到树形多刚体系统的一般情况。定义了一个描述树形多刚体系统结构的刚体连结矩阵,导出了树形多刚体系统的格拉朗日基本动力学方程、递推的动力学方程和简化系数的动力学方程。

LAGRANGIAN DYNAMICS OF MULTI-RIGIDBODY SYSTEMS WITH TREE STRUCTURES

This paper intends to extend Lagrangian dynamics for robot mechanisms having open chains without branching to the generalized case of multi-rigidbody systems. A rigidbody connection matrix describing the interconnection structure of multi-rigidbody systems having tree structure is defined. The fundamental Lagrangian dynamical equations, the recursive : dynamical equations and the dynamical equations w i th simpl if ied coefficients for multi-rigidbody systems with tree structure are developed.