| Stanford机器人动力学性能分析与仿真 |
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| 引用本文： | 张微微,郭希娟.Stanford机器人动力学性能分析与仿真[J].计算机仿真,2007,24(5):138-141. |
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| 作者姓名： | 张微微 郭希娟 |
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| 作者单位： | 燕山大学,河北,秦皇岛,066004;燕山大学,河北,秦皇岛,066004 |
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| 摘 要： | 文中对 Stanford 机器人进行了动力学性能分析和实体及运动仿真.首先运用影响系数法建立机器人的影响系数矩阵,利用同时基于Jacobian 矩阵和 Hessian 矩阵的动力学性能指标进行分析,给出动力学性能指标图谱.在此基础上,运用MATLAB软件对Stanford机器人进行实体和速度、加速度仿真.根据性能分析和仿真结果,说明我们用同时基于Jacobian矩阵和Hessian矩阵的动力学性能指标进行分析Stanford机器人动力学性能的正确性,以及MATLAB的可视化技术在机器人领域中的应用和发展前景.
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| 关 键 词： | 串联机器人 动力学 性能分析 仿真 |
| 文章编号： | 1006-9348（2007）05-0138-04 |
| 修稿时间： | 2006-04-082006-04-11 |
Dynamic Performance Analysis and Simulation of Stanford Robot |
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| ZHANG Wei-wei,GUO Xi-juan.Dynamic Performance Analysis and Simulation of Stanford Robot[J].Computer Simulation,2007,24(5):138-141. |
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| Authors: | ZHANG Wei-wei GUO Xi-juan |
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| Affiliation: | Yanshan University, Qinhuangdao Hebei 066004 ,China |
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| Abstract: | In this paper we analyze the dynamic performance and simulate the model and motion of Stanford robot. First, an influence coefficient matrix is set up using influence coefficient method and the dynamic performance atlas is given by using the dynamic performance index based on both Jacobian matrix and Hessian matrix. Next, the model and velocity and acceleration of the Stanford robot are simulated in MATLAB software. The result of the performance analysis and simulation shows that the dynamic performance index based on Jacobian matrix and Hessian matrix is correct, and the result also shows the application and future of MATLAB software in the field of serial robot analysis. |
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| Keywords: | Serial robot Dynamics Performance analysis Simulation |
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