| 双臂协调约束系统动力学问题探讨 |
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| 引用本文： | 许宏伟 马兴瑞. 双臂协调约束系统动力学问题探讨[J]. 振动工程学报, 1994, 7(1): 1-8 |
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| 作者姓名： | 许宏伟 马兴瑞 |
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| 作者单位： | 哈尔滨工业大学航天工程与力学系 |
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| 摘 要： | 本文讨论了双臂协调约束系统的动力学问题．文中系统地描述了该系统的适应于计算机程序化的建模方法；推导了系统的动力学方程，并给出了用约束矩阵的正交补矩阵处理系统所受协调约束的方法；编制了相应的计算机辅助分析程序ＤＲＣＲＣＳ，并用该程序对算例进行了动力学的数值分析。
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| 关 键 词： | 双臂系统；协调；约束；动力学；正交补矩阵 |
The Dynamical Problems''Investigation on Dual-Robot System with Coordinated Constraints |
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| Xu Hongwei, Ma Xingrui, Huang Wenhu, Shao Chengxun, Zou Zhengzhu. The Dynamical Problems''Investigation on Dual-Robot System with Coordinated Constraints[J]. Journal of Vibration Engineering, 1994, 7(1): 1-8 |
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| Authors: | Xu Hongwei Ma Xingrui Huang Wenhu Shao Chengxun Zou Zhengzhu |
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| Abstract: | This paper investigates the dynamical problems of a dual-robot system with coordinated constraints. The system modelling method which is suitable for computer analysis and the coordinated constraints are presented. An example illustrating the concepts and the analytical results done by a software DRCRCS are given. |
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| Keywords: | dual-robot system coordinate constraints dynamics orthogonal complement matrix |
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