基于李群方法的6自由度机器人机构动力学分析  

Dynamic Analysis of Industrial Robot Using Lie Groups

作　　者：刘会英[1] 杨彩君 刘博宇[1] 

机构地区：[1]哈尔滨工业大学(威海)机械工程系,山东威海264209 [2]威海广泰空港设备股份有限公司,山东威海264209

出　　处：《机械设计与研究》2011年第5期29-30,34,共3页Machine Design And Research

摘　　要：用李群李代数建立了六自由度机器人的机构动力学方程,描述了机器人的位姿及相应的速度和加速度。并对六自由度工业机器人进行了Matlab仿真与Adams验证,应用李群推法得到了关节驱动力矩与根据Adams分析所得的关节驱动力矩具有很好的一致性,误差为5%。说明了李群方法在机器人动力学分析中的适用性。The 6-DOF robot mechanism dynamic equation is described with Lie group.Explicit connections between the equations of motion and concepts from Lie theory are established.First,the transformation is described by the exponential map,which can also describes the position and pose of the robot.The adjoint representation of the Lie group and the Lie algebra is used to describe the generalized velocity and acceleration.The final dynamic equation is obtained in recursive form.Then Matlab program is developed to solve dynamic equation,when 100Nm working torque is loaded on the wrist,the driving moment dynamic characteristics of each joint is obtained.At last,we use MSC Adams to emulate the robot model,the results of Adams coincide with that of the Lie group method.So,the Lie group method in robot dynamics is effective,espetcially in complex situation.

关 键 词：李群 机器人 动力学 仿真 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]