| 用于机器人动力学分析的N—E方程 |
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| 引用本文： | 陈安军.用于机器人动力学分析的N—E方程[J].信阳师范学院学报(自然科学版),1993,6(2):177-187. |
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| 作者姓名： | 陈安军 |
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| 作者单位： | 信阳师院物理系 信阳市464000 |
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| 摘 要： | 本文在多体系统动力学基础上对单自由度铰连接的机器人机构进行动力学分析,建立适合于机器人机构的Newton—Euler动力学方程,且方程是以最少的一组伪速度为变量的形式出现,便于计算机处理.
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| 关 键 词： | 机器人 伪速度 动力学 N－E方程 |
Newton-Euler Equation for the Dynamics Analysis of Robot |
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| Chen An jun.Newton-Euler Equation for the Dynamics Analysis of Robot[J].Journal of Xinyang Teachers College(Natural Science Edition),1993,6(2):177-187. |
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| Authors: | Chen An jun |
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| Institution: | Chen An jun |
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| Abstract: | Based on the dynamics analysis of multibody system,this paper proposes dynamics analysis for the robot mechanism which is linked by one preedom degree jiont and establishest the New ton-Euler dynamics equation which is appeared in term of one form least psewdovelocity variables. It is convenient that computer treatment the equation. |
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| Keywords: | Robot Pseudovelocity Dynamics |
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