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本文给出了一种沿标称轨迹线性化机器人动力学模型的有效方法.方法具有简单、系统、以及计算量小的优点。对于一个具有6自由度的机器人,用本文的方法建立它的线性化动力学模型(包括沿标称轨迹的广义力计算)所需要的最大计算量为2600个乘法与2711个加法,它可以在微型或小型计算机上实时实现。在计算上,本文的方法是现存所有方法中计算速度最快的.
In this paper, we present an efficient method to linearize the robot kinematics model along a nominal trajectory. The proposed method has the advantages of simplicity, system, and small computational complexity. For a robot with 6 degrees of freedom, the maximum computational effort required to build its linearized dynamics model (including the generalized force along the nominal trajectory) using this method is 2600 multiplications and 2711 additions, Real-time implementation on a mini or small computer. In terms of computation, the method in this paper is the fastest in all the existing methods.