引用本文: 李长金. 关于机器人动力学模型的线性化[J]. 机器人, 1988, 10(5): 1-13.
LI Changjin. ON LINEARIZATION OF DYNAMIC MODELS OF ROBOT MANIPULATORS[J]. ROBOT, 1988, 10(5): 1-13.
 Citation: LI Changjin. ON LINEARIZATION OF DYNAMIC MODELS OF ROBOT MANIPULATORS[J]. ROBOT, 1988, 10(5): 1-13.

## ON LINEARIZATION OF DYNAMIC MODELS OF ROBOT MANIPULATORS

• 摘要: 本文给出了一种沿标称轨迹线性化机器人动力学模型的有效方法．方法具有简单、系统、以及计算量小的优点．对于一个具有6自由度的机器人，用本文的方法建立它的线性化动力学模型（包括沿标称轨迹的广义力计算）所需要的最大计算量为2600个乘法与2711个加法，它可以在微型或小型计算机上实时实现．在计算上，本文的方法是现存所有方法中计算速度最快的．

Abstract: In this paper,an efficient method to linearize dynamic models about a nominaltrajectory for robot manipulators is developed from a straightforward Lagragian form-ulation.This method is very simple and systematic.It can be applied to compute thefeedforward control law(i,e.,the generalized forces/torques)about the desired nom-inal trajectory and to design the feedback controller that reduces or eliminates any dev-iations from the desired nominal trajectory.A conspicuous advantage of using this met-hod is that the number of computations for deriving complete linearized dynamic modelsfor a manipulator is so few that the real-time computation can be realized on a mini-computer or micro-computer.The total number of computations for deriving completelinearized dynamic models(including the computation of the generalized forces torques at the joint)about nominal trajectory for the manipulator with six degrees of freedom is at most 2600 multiplications and 2711 additions.Computationally,the proposedmethod is the fastest of all existing methods.

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