| A NEW METHOD FOR LAGRANGIAN DYNAMIC MODELLING OF ROBOTS |
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| 作者姓名： | 杜洪流 金万敏 |
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| 作者单位： | Department of Mechanical Engineering，Department of Mechanical Engineering |
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| 摘 要： | 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.
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A NEW METHOD FOR LAGRANGIAN DYNAMIC MODELLING OF ROBOTS |
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| Du Hongliu,Jin Wanmin.A NEW METHOD FOR LAGRANGIAN DYNAMIC MODELLING OF ROBOTS[J].Journal of Southeast University(English Edition),1989(1). |
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| Authors: | Du Hongliu Jin Wanmin |
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| Institution: | Du Hongliu;Jin Wanmin Department of Mechanical Engineering |
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| Abstract: | In this paper,the screw transformations are discussed in detail and their matrices 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 of the model is concise.All the coefficients are calculated in simple recursive way,which can be easily programmed in computation.The method presented can also be used in the dy- namic and the kinematic study of spatial mechanisms. |
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| Keywords: | robots dynamics/motor screw transformation |
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