多自由度串联机器人的高效率反向动力学建模方法

针对多自由度串联机器人的反向动力学建模问题，通过引入解耦的自然正交补的概念和方法，消除了牛顿-欧拉动力学方程中的约束力项，得到了一种基于解耦的自然正交补的高效反向动力学递推建模方法。编制程序对七自由度串联机器人进行了仿真验证，并将其与牛顿-欧拉递推建模方法进行了对比。结果表明，基于解耦的自然正交补的反向动力学递推建模方法可节省约2/3的CPU计算时间，仿真结果正确、合理，从而验证了该方法的可靠性和高效性。

High Effective Inverse Dynamics Modelling for Multi-DOF Serial Robots

To deal with the problem of inverse dynamics modelling for multi-DOF serial robot, a recursive inverse dynamics modelling method was presented based on decoupled natural orthogonal complement. In this model, the concepts and methods of decoupled natural orthogonal complement(DeNOC) matrices were used to eliminate the constraint forces in the Newton-Euler kinematic equations. Finally, a 7-DOF serial robot was simulated by, and the results were compared with those of the recursive Newton-Euler kinematic equations. Simulation results show that the proposed method based on decoupled natural orthogonal complement can save 2/3 amount of CPU time that is spent in computing compared with the traditional approach, and the results is correct and reasonable, which can verify the reliability and efficiency of the method.