机器人动力学模型矩阵及封闭形动力学模型的分解理论

THEORY OF DECOMPOSITION OF DYNAMIC MODEL MATRIX AND DYNAMIC ROBOT MODEL IN CLOSED FORM

  • 摘要: 本文提出了由n个构件组成的机器人开链系统的动力学模型矩阵及封闭形动力学模型的分解理论,从而揭示了机器人动力学模型矩阵及封闭形动力学模型的可分解性;为解决机器人“数字-符号”模型对于机器人末端构件的几何参数和动力学参数发生变化这一情况的失效问题及为在多处理机上形成和求解封闭形动力学模型提供了一个基础.

     

    Abstract: This paper presents a theory of dynamic model matrix and dynamic model ofrobotic manipulator with n links and shows a decomposition property of dynamicmodel matrix and dynamic robot model.The theory presented here provides a basis forsolving,with numeric-symbolic method,a serious problem which arises from suddenchangcs of kinematic and dynamic parameters of end-effctor while picking objects,and drovides also a basis for implementation of dynamic algorithm for settingand solving dynamic robot model in closed form on multiprocessor systems.

     

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