| 机器人离散动力学建模新方法研究 |
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| 引用本文： | 张敏,张建民.机器人离散动力学建模新方法研究[J].北京理工大学学报,1994,14(2):114-119. |
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| 作者姓名： | 张敏 张建民 |
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| 作者单位： | 北京理工大学机械工程系 |
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| 摘 要： |
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| 关 键 词： | 机器人 动力学 离散化 数学模型 |
A Dynamic Robot Modeling Method |
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| Li Min,Zhang Jianmin.A Dynamic Robot Modeling Method[J].Journal of Beijing Institute of Technology(Natural Science Edition),1994,14(2):114-119. |
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| Authors: | Li Min Zhang Jianmin |
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| Abstract: | Setting itself upon basic concepts from discrete mechanics, a new method forthe dynamic analysis of robots is developed, based upon the Lagrange-Euler equation.Taking into account the factor of mechanical dinipation (frictional force),a recursive formulation for discrete dynamic robots is given.The amount of mathematical operations involved in such a model is much reduced and emerges as the least among the chief dynamic modeling methods presently in use.With the discrete dynamic robot nodel is viable to design a real-time controller because the model provides a lncidphysical meaning.Simulation experiments with a real robot has confirmed the feasibilityand applicability of the method. |
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| Keywords: | robots dynamics discretiaation mathematical models/number of operationThe project supported by Ministry Advanced Research Foundation |
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