| 一种七自由度仿人手臂动力学仿真分析 |
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| 引用本文： | 刘宇,孙立宁. 一种七自由度仿人手臂动力学仿真分析[J]. 机械设计与制造, 2004, 0(2): 33-35 |
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| 作者姓名： | 刘宇 孙立宁 |
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| 作者单位： | 哈尔滨工业大学,哈尔滨,150001;哈尔滨工业大学,哈尔滨,150001 |
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| 摘 要： | 借助于adams动力学仿真工具，分析了一种新研制的七自由度仿人手臂的动力学问题，并以仿人手臂的自运动为例，求出了随动控制下的力矩响应。进而，利用三次样条插值的办法，得出了时间一力矩函数关系式，显然，这为力矩补偿前馈控制模式提供了数学模型。
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| 关 键 词： | 仿人手臂 动力学仿真 随动控制 力矩补偿 |
| 文章编号： | 1001-3997(2004)02-0033-02 |
| 修稿时间： | 2003-07-28 |
The dynamics simulation analysis of a seven DOF anthropomorphic arm |
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| LIU Yu,SHUN Li ning. The dynamics simulation analysis of a seven DOF anthropomorphic arm[J]. Machinery Design & Manufacture, 2004, 0(2): 33-35 |
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| Authors: | LIU Yu SHUN Li ning |
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| Abstract: | With adams dynamics simulation software, this paper analyzes the dynamics problem of a newly made seven DOF anthropomorphic arm, and as a example with the anthropomorphic arm' self- motion, a torque response with follow- up control is given. Farther, time- torque function is derived by the method of cubic spline interpolation. Obviously, the torque compensation feedforword control pattern adopted is provided with mathematic model. |
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| Keywords: | Anthropomorphic arm Dynamics simulation Follow up control Torque compensation |
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