章定国, 李德昌, 谢大雄. 树形机器人动力学L-E法及其系数矩阵解剖[J]. 机器人, 1996, 18(2): 78-82.
引用本文: 章定国, 李德昌, 谢大雄. 树形机器人动力学L-E法及其系数矩阵解剖[J]. 机器人, 1996, 18(2): 78-82.
ZHANG Dingguo, LI Dechang, XIE Daxiong. DYNAMIC EQUATIONS OF TREE STRUCTURE ROBOT IN FORMS OF L-E AND THE DISSECTION OF ITS COEFFICIENT MATRICES[J]. ROBOT, 1996, 18(2): 78-82.
Citation: ZHANG Dingguo, LI Dechang, XIE Daxiong. DYNAMIC EQUATIONS OF TREE STRUCTURE ROBOT IN FORMS OF L-E AND THE DISSECTION OF ITS COEFFICIENT MATRICES[J]. ROBOT, 1996, 18(2): 78-82.

树形机器人动力学L-E法及其系数矩阵解剖

DYNAMIC EQUATIONS OF TREE STRUCTURE ROBOT IN FORMS OF L-E AND THE DISSECTION OF ITS COEFFICIENT MATRICES

  • 摘要: 本文将机器人动力学中用于单开链的L-E法推广到了树形机器人系统,并分析了树形系统下的系数矩阵,将其与单开链下的系数矩阵相比较,得出了很多有益的结果.本文提出的“分路”和“虚路”相结合的方法具有建模时间短、工作量小、难度低、计算效率高和适于程式化计算等优点.

     

    Abstract: In this paper, the L-E method which has been applied to singular chain systems is extended into tree structure systems and its coefficient matrices are analyzed in detail. This paper compares these matrices of tree systems with those of chain systems and obtains a lot of valuable results. The methods of "dividing Lane" and "voidroad" presented in this paper have several advantages, such as high efficiency, less difficulty and less work in the modelling, and easiness of programming. The work done in this paper enriches the theories of robot dynamic modelling.

     

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