機器人操作手的動力學計算

A Method to Calculate Dynamics Eguations of Robot Manipulator

摘要: 本文在凱恩動力學方程的基礎上導出了一個計算關節型機器人操作手動力學方程的公式。它簡練、直觀,特別易于計算機輔助設計計算。文中還以簡例說明了該公式的計算步驟和方法。

Abstract: This paper presents a formula which can be used to calculate dynamic eguations of goint-typical robot manipulator.This formula is simple, direct, especially is suitable for calculation with computer.In this paper the process to use this formular is also introduced with a simple example.