| 机器人动力学自动建模软件系统 |
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| 引用本文： | 范守文,徐礼矩.机器人动力学自动建模软件系统[J].电子科技大学学报(社会科学版),1995(3). |
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| 作者姓名： | 范守文 徐礼矩 |
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| 作者单位： | 成都电子科技大学电子机械系，四川联合大学机械工程系 |
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| 摘 要： | 提出了一种用数字一符号法建立机器人动力学模型的简便、高效方法，该方法将模型矩阵中各元素的推导问题转化为特定条件下应用动力学递推公式求解驱动力和驱动力矩的问题。文中引入了一种线性链表的动态数据结构，将建模过程中复杂的数字、符号混合处理过程转化为简单的矩阵运算过程，降低了建模的复杂性。研制了自动建立机器人动力学模型的计算机软件，可自动生成动力学模型的各矩阵元素，并以实时代码形式输出。
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| 关 键 词： | 机器人 动力学模型 数字－符号法 实时控制 |
Software System for Automatic Generation of Robotic Dynamic Model |
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| Fan Shouwen.Software System for Automatic Generation of Robotic Dynamic Model[J].Journal of University of Electronic Science and Technology of China(Social Sciences Edition),1995(3). |
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| Authors: | Fan Shouwen |
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| Abstract: | A simple numeric-symbolic method for dynamic modeling of robotic manipulators isproposed.The problem of deriving model matri x elements is transformed into the problem of solving fordriving force and driving torque under specified condition by recursive dynamic equations.Anew kind datastructure of linear link is introduced in this paper,complex procedure of number-symbol manipulation istransformed into simpe procedure of matri x manipilation,and the complexity of modeling is reduce then.Software package for automatic modeling of robtic manipulator is developed based on above method.Thesoftware cn generate elements of dynamic model matrix in form of real0time code automatically oncomputer.The real0time codes of model matrix elements have minimal number of float0pointmulitiplications/additions,the efficiency of calculation is improved.A numerical example of automaticmodeling is give. |
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| Keywords: | robot dynamic model numeric-symbolic method real time Control |
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