树形机器人动力学L-E法及其系数矩阵解剖  

DYNAMIC EQUATIONS OF TREE STRUCTURE ROBOT IN FORMS OF L-E AND THE DISSECTION OF ITS COEFFICIENT MATRICES

作　　者：章定国[1] 李德昌[1] 谢大雄[1] 

机构地区：[1]南京理工大学应用力学系,南京210094

出　　处：《机器人》1996年第2期78-82,共5页Robot

基　　金：国家自然科学基金;兵科院预研项目资助课题

摘　　要：本文将机器人动力学中用于单开链的L-E法推广到了树形机器人系统,并分析了树形系统下的系数矩阵,将其与单开链下的系数矩阵相比较,得出了很多有益的结果.本文提出的"分路"和"虚路"相结合的方法具有建模时间短、工作量小、难度低、计算效率高和适于程式化计算等优点.In this paper, the L-E method which has been applied to singular chain systems is extended into tree structure systems and its coefficient matrices are analyzed in detail. This paper compares these matrices of tree systems with those of chain systems and obtains a lot of valuable results. The methods of 'dividing Lane' and 'voidroad' presented in this paper have several advantages, such as high efficiency, less difficulty and less work in the modelling, and easiness of programming. The work done in this paper enriches the theories of robot dynamic modelling.

关 键 词：树形机器人 L-E法 动力学 机器人 系数矩阵 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]