韩佩富, 王常武, 孔令富, 黄真, 赵立强. 改进的6-DOF并联机器人Newton-Euler动力学模型[J]. 机器人, 2000, 22(4): 315-318.
引用本文: 韩佩富, 王常武, 孔令富, 黄真, 赵立强. 改进的6-DOF并联机器人Newton-Euler动力学模型[J]. 机器人, 2000, 22(4): 315-318.
HAN Pei-fu, WANG Chang-wu, KONG Ling-fu, HUANG Zhen, ZHAO Li-qiang. THE IMPROVED NEWTON-EULER DYNAMICS MODEL OF 6-DOF PARALLEL ROBOT[J]. ROBOT, 2000, 22(4): 315-318.
Citation: HAN Pei-fu, WANG Chang-wu, KONG Ling-fu, HUANG Zhen, ZHAO Li-qiang. THE IMPROVED NEWTON-EULER DYNAMICS MODEL OF 6-DOF PARALLEL ROBOT[J]. ROBOT, 2000, 22(4): 315-318.

改进的6-DOF并联机器人Newton-Euler动力学模型

THE IMPROVED NEWTON-EULER DYNAMICS MODEL OF 6-DOF PARALLEL ROBOT

  • 摘要: 本文在6-DOF并联机器人运动模型的基础上,采用对加速度及作用力正交分解的方法,将其Newton-Euler动力学模型归结为一个简单的、可用于实时计算的模型.

     

    Abstract: Based on kinematics model of 6-DOF parallel robot, this paper adopts orthogonal analysis method on acceleration and force, and summarizes the Newton-Euler dyn amics model into a simple model that can be used for real-time calculation.

     

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