| 冗余度操作臂动力学方程简化及载荷独立性分析 |
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| 引用本文： | 曲艳丽,边广韬,王迎春,姜彤. 冗余度操作臂动力学方程简化及载荷独立性分析[J]. 沈阳工业大学学报, 1999, 21(6): 468-469 |
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| 作者姓名： | 曲艳丽 边广韬 王迎春 姜彤 |
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| 作者单位： | 沈阳工业大学机械工程学院,辽宁沈阳110023 |
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| 摘 要： | 综合近年来国内外一些学者对冗余度操作臂动力学的研究，推导出经实践证明行之有效的冗余度操作臂动力学方程的简化形式，并对雅可比广义道的载荷独立性进行了分析，为操作臂的设计及实时控制提供了新思路．
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| 关 键 词： | 机器人动力学 冗余度 雅可比矩阵 |
| 修稿时间： | 1998-11-24 |
Simplified dynamics formulation of redundant manipulator and analysis of independence of load inertia |
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| QU Yan-li,BIAN Guang-tao,WANG Ying-chun,JIANG Tong. Simplified dynamics formulation of redundant manipulator and analysis of independence of load inertia[J]. Journal of Shenyang University of Technology, 1999, 21(6): 468-469 |
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| Authors: | QU Yan-li BIAN Guang-tao WANG Ying-chun JIANG Tong |
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| Abstract: | This work is a synthesis of both previous and current results developed within the dynamics of redundant manipulators. It presents a simple dynamics formulation of redundant manipulator, which has been proved to be efficient. And it shows that J is also independent of load inertia. |
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| Keywords: | dynamics of manipulator consistent inverse of the jacobian matrix. |
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