陈乐生. 质心坐标系的牛顿-欧拉动力学方程[J]. 机器人, 1993, 15(3): 33-37.
引用本文: 陈乐生. 质心坐标系的牛顿-欧拉动力学方程[J]. 机器人, 1993, 15(3): 33-37.
CHEN Lesheng. NEWTON-EULER DYNAMICS EQUATIONS FOR COORDINATE FRAME AT CENTER OF MASS[J]. ROBOT, 1993, 15(3): 33-37.
Citation: CHEN Lesheng. NEWTON-EULER DYNAMICS EQUATIONS FOR COORDINATE FRAME AT CENTER OF MASS[J]. ROBOT, 1993, 15(3): 33-37.

质心坐标系的牛顿-欧拉动力学方程

NEWTON-EULER DYNAMICS EQUATIONS FOR COORDINATE FRAME AT CENTER OF MASS

  • 摘要: 在机器人的运动学和动力学分析中,杆的附件坐标系通常是建立在关节轴线上的.本文采用在机器人各杆的质心建立杆附体坐标系的方法,推导了机器人的牛顿-欧拉动力学递推方程.并以平面两杆机械手为例给出这种方法的结果.

     

    Abstract: Coordinate frame fixed in link of robot is assingned at each joint axis generally.In this paper,the Newton-Euler robotic dynamic equations are derived by using the method of assigning coordinate frame attached rigid-ly to link at its center of mass.Results for a plane-two-link robot arm are presented.

     

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