机器人逆动力学简化实时快速算法

SIMPLIFIED REAL-TIME COMPUTATION METHOD OF INVERSE DYNAMIC FOR THE ROBOT SYSTEM

摘要: 本文基于机器人动力学模型，通过引入相对误差准则，提出一种计算机器人逆动力学的简化实时快速算法．该算法，根据动力学模型中各元素在期望工作轨迹上的变化速率不同，运用相对误差准则确定出它们的实时计算周期，达到减少单位控制周期内计算动力学模型的操作数，文中给出了计算实例．

Abstract: In this paper,subject to a relative error criterion,a fast computing method of inverse dynamic for robot system is presented.This method,besed on different rates of changes in inverse dynamic model elements,the relative error criterion is used to determine comptiting period of its various parts,so that decrease the number of operations for inverse dynamic model computation. Finally,a applied example is given for illustration.