| 基于完全笛卡尔坐标O(N)次正向动力学研究 |
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| 引用本文： | 孙宏丽,吴洪涛,缪群华,程世利,赵大旭.基于完全笛卡尔坐标O(N)次正向动力学研究[J].机械科学与技术(西安),2010(3). |
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| 作者姓名： | 孙宏丽 吴洪涛 缪群华 程世利 赵大旭 |
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| 作者单位： | 南京航空航天大学机电学院; |
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| 基金项目： | 国防科工委“十一五”某预研基金项目;;国家自然科学基金项目(50375071)资助 |
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| 摘 要： | 采用刚体等效质点力学模型,提出一种基于完全笛卡尔坐标快速求解链式机械臂惯量矩阵逆的新方法。选取系统独立变量坐标和完全笛卡尔坐标描述约束方程中不变化的变量作为广义扩展坐标,通过完全笛卡尔坐标与广义扩展坐标变量间的速度映射关系,得到广义扩展坐标表达下质量矩阵的表达形式。该质量矩阵及其逆矩阵的计算演变为对等效质点分别计算求和的过程,实现了机械臂正向动力学的O(n)次的高效率计算。通过与传统的罗伯森-维滕堡方法进行精度和计算效率的比较,验证了本研究内容的准确性和高效性。
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| 关 键 词： | 机械臂 O(n) 正向动力学 完全笛卡尔坐标 |
A Fast Algorithm for the Solution of Forward Dynamics Described by Fully Cartesian Coordinates |
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| Sun Hongli,Wu Hongtao,Miu Qunhua,Cheng Shili,Zhao Daxu.A Fast Algorithm for the Solution of Forward Dynamics Described by Fully Cartesian Coordinates[J].Mechanical Science and Technology,2010(3). |
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| Authors: | Sun Hongli Wu Hongtao Miu Qunhua Cheng Shili Zhao Daxu |
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| Affiliation: | College of Mechanical and Electrical Engineering/a>;Nanjing University of Aeronautics and Astronautics/a>;Nanjing 210016 |
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| Abstract: | A new algorithm based on the fully Cartesian coordinates is proposed to calculate inertia matrix inversion of serial manipulators described by equivalent particle mechanical model.New expanded coordinates are formed by adding unchanged variables from constraint equations described by fully Cartesian coordinates to the independent variables array,and a new mass matrix can be obtained through mapping the relationship between fully Cartesian coordinates and the expanded coordinate variables to retain informati... |
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| Keywords: | manipulator O(n) forward dynamics fully Cartesian coordinates |
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