| 机器人动力学的一种通用算法（之二）──算法的应用与计算效率分析 |
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| 引用本文： | 徐向荣,秦锋,马香峰. 机器人动力学的一种通用算法（之二）──算法的应用与计算效率分析[J]. 机械科学与技术, 1995, 0(5) |
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| 作者姓名： | 徐向荣 秦锋 马香峰 |
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| 作者单位： | 华东治金学院，北京科技大学 |
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| 摘 要： | 利用作者提出的机器人动力学通用算法￣［１］，讨论了当机器人含有闭链结构时的动力学计算处理方法，并与传统的几种力学算法在计算效率方面进行了比较。结果表明：本文算法所需计算量与牛顿－欧拉算法相当，但比其它传统算法计算量要少，井克服了牛顿－欧拉算法不易于处理含闭链结构的机器人动力学的不足之处．
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| 关 键 词： | 机器人，动力学，凯恩方程，闭链 |
A General-purposed Algortithm for Robot Dynamics(Ⅱ) |
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| Xu Xiangrong, Qin Feng, Ma Xiangfeng. A General-purposed Algortithm for Robot Dynamics(Ⅱ)[J]. Mechanical Science and Technology for Aerospace Engineering, 1995, 0(5) |
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| Authors: | Xu Xiangrong Qin Feng Ma Xiangfeng |
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| Abstract: | This paper(See ref[1])presents a new algorithm of dynamics for robot manipulators.The algorithm is obtained by using Kane'sdynam ical equations and Newton-Euler formulations.The algorithm is given in recurrent form and can be easily realized on computers。 It is suitable not only for robots with all rotatory joints but also for robots with somc prismatic joints.The computational efficiency of this algorithm has been compared with other dynamic algorithms,the results show that the amont of calculating work of this algorithm is nearly as that of Nowton-Euler algorithm,but less than that of those conventional algorithms,moreover,this algorithm avoids the trouble in trcating the dynamic problems of robots containing closed chains. |
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| Keywords: | Robot Dynamics Kane'e quations Closed chain |
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