機器人動力學Lagrange方程計算的內積法

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

摘要: 用拉格朗日動力學第二類方程建立機器人動力學算法,是一種常用的,行之有效的方法,但是,計算起來很繁。Pual引入平移和旋轉微分向量進行化簡,最后得到了近似解。
本文在用拉氏方程得到機器人動力學算法的基礎上,引進線性空間的內積概念得,到內積法,并用它來計算我院機器人ROBOT—1的動力學方程,可使計算大為簡化。

Abstract: 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 dynamics 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