Establishment of Constraint Relation of Robot Dynamics Equation Based on Kinematic Influence Coefficients Method  

作　　者：徐亚茹 李克鸿 商新娜 金晓明 刘荣 张建成 XU Yaru;LI Kehong;SHANG Xinna;JIN Xiaoming;LIU Rong;ZHANG Jiancheng(Beijing Engineering Research Center of Smart Mechanical Innovation Design Service,Beijing Union University,Beijing 100027,China;College of Robotics,Beijing Union University,Beijing 100020,China;Robotics Institute,Beihang University,Beijing 100191,China)

机构地区：[1]Beijing Engineering Research Center of Smart Mechanical Innovation Design Service,Beijing Union University,Beijing 100027,China [2]College of Robotics,Beijing Union University,Beijing 100020,China [3]Robotics Institute,Beihang University,Beijing 100191,China

出　　处：《Journal of Shanghai Jiaotong university(Science)》2024年第3期450-456,共7页上海交通大学学报（英文版）

基　　金：the Beijing Municipal Scienceand Technology Project (No.KM202111417006);the Academic Research Projects of Beijing Union University (Nos.ZK10202305 and ZK80202004);the Beijing Municipal Science and Technology Project (No.KM202111417005)。

摘　　要：Due to the diversity of work requirements and environment,the number of degrees of freedom(DOFs)and the complexity of structure of industrial robots are constantly increasing.It is difficult to establish the accurate dynamical model of industrial robots,which greatly hinders the realization of a stable,fast and accurate trajectory tracking control.Therefore,the general expression of the constraint relation in the explicit dynamic equation of the multi-DOF industrial robot is derived on the basis of solving the Jacobian matrix and Hessian matrix by using the kinematic influence coefficients method.Moreover,an explicit dynamic equation with general constraint relation expression is established based on the Udwadia-Kalaba theory.The problem of increasing the time of establishing constraint relationship when the multi-DOF industrial robots complete complex task constraints is solved.With the SCARA robot as the research object,the simulation results show that the proposed method can provide a new idea for industrial robot system modeling with complex constraints.

关 键 词：industrial robot constraint relationship kinematic influence coefficients method Jacobian matrix Hessian matrix 

分 类 号：TH113[机械工程—机械设计及理论] TP242.2[自动化与计算机技术—检测技术与自动化装置]