The Robotic Dynamical Algorithm by Divided Load-Manipulator
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摘要: 基于Kane動力學方程,導出了負載與操作機分開,并具有封閉形式的機器人動力學通用算法。該法適用于開、閉鏈機構的機器人動力學研究;便于用計算機推導機器人操作機的動力學數一符方程。給出了該算法及其證明,并討論了該算法的性質及特點。Abstract: Based on the Kane's equation, a new general robotic dynamical algorithm, in which load-manipulator is divided, has been presented. The algorithm with closed-form is efficient in solving the dynamical problems of manipulator with closed-chain or opcned-chain, and generating the dynamical numeric-symbolic model of manipulator by computer. The algorithm has been derived and the characters of the algorithm has been discussed.
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Key words:
- manipulator /
- dynamic /
- algorithm /
- numeric-symbolic
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