机器人操作器惯性参数的计算

CALCULATION OF INERTIAL PARAMETER OF ROBOT MANIPULATOR

  • 摘要: 本文系统地总结了刚体惯性参数的概念,给出了不同坐标系下惯性参数的变换公式,提出了求解机器人操作器的惯性参数的计算法,提出了用于计算机器人操作器惯性参数的程序包PIPM,给出了具体的计算实例及实验结果.

     

    Abstract: Conception of inertial parameter of rigid body was systematically summarized in this paper. Transformationformula of inertial parametrs in different coordinates, method and program package PIPM for calculating inertialparameters of manipulator were presented. An example with experimental results was given.

     

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