MOTOR METHOD OF ROBOT END EFFECTOR PATH GENERATION

According to the theory that rotation transformation from the basecoordinate to an arbitrary one can be described by a single equivalent rotation about agiven rotational axis,it is proposed that the orientation of robot can be described by usingthe vector of equivalent angular displacement.And the concept of pose motor and itsPlücker linear coordinate are established and used to describe the position and orientationof robot.Based on the fact that there is a one-to-one correspondence between the ori-ented straight lines in three-dimensional dual space,the interpolation plannings corre-sponding to the pose motors are developed in dual space.A new algorithm of robot CPmotion trajectory planning is presented.The correctness of the theory and derivation isconformed by an example.     

A NEW METHOD FOR LAGRANGIAN DYNAMIC MODELLING OF ROBOTS

In this paper,the screw transformations are discussed in detail and theirmatrices are given.Based on Lagrangian equations,a new method for modelling the dy-namic behavior of robots is presented.The derivation is simple,and the configuration ofthe model is concise.All the coefficients are calculated in simple recursive way,which canbe easily programmed in computation.The method presented can also be used in the dy-namic and the kinematic study of spatial mechanisms.