李英, 蒋厚宗. -种五自由度机器人的动力学分析[J]. 机器人, 1989, 11(4): 12-16.
引用本文: 李英, 蒋厚宗. -种五自由度机器人的动力学分析[J]. 机器人, 1989, 11(4): 12-16.
LI Ying, JIANG Houzong. DYNAMICS ANALYSIS OF ROBOT WITH FIVE DEGREES OF FREEDOM[J]. ROBOT, 1989, 11(4): 12-16.
Citation: LI Ying, JIANG Houzong. DYNAMICS ANALYSIS OF ROBOT WITH FIVE DEGREES OF FREEDOM[J]. ROBOT, 1989, 11(4): 12-16.

-种五自由度机器人的动力学分析

DYNAMICS ANALYSIS OF ROBOT WITH FIVE DEGREES OF FREEDOM

  • 摘要: 本文根据-种五自由度工业机器人的动力学参数的符号表达式,获得了非直接驱动的机器人动力学模型.并根据特定工况,分析了参数变换情况,在此基础上得出了简化模型,论证了简化控制的合理性和可能性.

     

    Abstract: In this paper,the symbolic representations of dynamic parameters for a industrial robot with five de-grees of freedom are derived and therefore a full set of dynamic equations are obtained.According tospecific working circumstances,the variations in parameters are checked,and hence the simplified modelis developed,and the rationality and feasibility of simplified control method are discussed.

     

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