• CN:11-2187/TH
  • ISSN:0577-6686

›› 1991, Vol. 27 ›› Issue (2): 69-74.

• 论文 • 上一篇    下一篇

机器人操作手-工件系统的“数字-符号”动力学模型

傅祥志;程远雄;廖道训   

  1. 华中理工大学
  • 发布日期:1991-03-01

THE NUMERIC-SYMBOLIC DYNAMIC MODEL OF THE MANIPULATOR-OBJECT SYSTEM OF ROBOTS

Fu Xiangzhi;Cheng Yuanxiong;Liao Daoxun   

  1. Huazhong University of Science and Technology
  • Published:1991-03-01

摘要: 本文考虑到夹持有工件的末端构件运动、动力学参数的变化是由夹持不同工件所引起的,提出了一个新的机器人操作手-工件系统的“数字-符号”动力学模型,采用此模型并将末端构件的局部坐标系选作参考坐标系,从而解决了端部执行器夹持不同工件引起运动学和动力学发生变化时,机器人的“数字-符号”动力学模型失效的严重问题,且大幅度降低了计算机辅助生成和求解机器人操作手的“数字-符号”动力学模型的运算次数。

关键词: 动力学, 机器人

Abstract: In view of the fact that changes of the kinematic and dynamic parameters of the end-effecter with the clamped object result from different clamped objects, this paper presents a new numeric-symbolic dynamic model of the manipulator-object system, by using which and choosing the local coordinate system attached to the end-effecter as the reference coordinate system, the serious problem with the numeric-symbolic dynamic model which arise from sudden changes in the kinematic and synamic parameters of the end-effecter through picking up different objects is solved and the number of operation in computer-aided generation process and solving process of the numeric-symbolic dynamic model of the robotic manipulator is significantly reduced.

Key words: 动力学, 机器人