引用本文: 赵强, 吴洪涛, 朱剑英. 多节臂举升机器人重心推算的研究[J]. 机器人, 2006, 28(1): 50-53,58.
ZHAO Qiang, WU Hong-tao, ZHU Jian-ying. Study on the Recursive Algorithms of Mass Center for the Multi-joint Arm Boom Lift Robot[J]. ROBOT, 2006, 28(1): 50-53,58.
 Citation: ZHAO Qiang, WU Hong-tao, ZHU Jian-ying. Study on the Recursive Algorithms of Mass Center for the Multi-joint Arm Boom Lift Robot[J]. ROBOT, 2006, 28(1): 50-53,58.

## Study on the Recursive Algorithms of Mass Center for the Multi-joint Arm Boom Lift Robot

• 摘要: 把Denavit和Hatenberg方法引入多节臂举升机器人质心推算的研究，以确定多节臂举升机器人各主要部件随重物的移动、其质心位置相对于基础坐标系的变化函数关系，从而确定多节臂举升机器人整体质心位置的变化函数．通过整体质心位置的变化函数，可以做出整个系统质心在水平面的变化范围图形，同时该变化函数也是举升机器人控制的反馈传递函数，最终在稳定允许的安全裕度下，确定多节臂举升机器人的安全工作空间．

Abstract: The Denavit-Hatenberg method is introduced into the recursive algorithms of a multi-joint arm boom lift robot mass center to determine the mass-center function of all the main units in the multi-joint arm boom lift robot relative to the(original) coordinate frame when the main units move along with the movement of the lifted load,so as to determine the mass-center function of the whole robot.The curves of the mass-center moving range of the robot in horizontal plane can be plotted by using the mass-center functions.And it also is the feedback propagation function for controlling the multi-joint arm boom lift robot.Finally,the workspace of the multi-joint arm boom lift robot can be accurately determined according to the allowed safe margin for stability.

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