轮式移动机器人n连杆机械手的逆动力学研究

2013 International Conference on Control, Automation and Information Sciences (ICCAIS) Pub Date : 2013-11-01 DOI:10.1109/ICCAIS.2013.6720548

C. My, L. C. Thanh

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引用次数: 7

摘要

机器人系统的逆动力学建模和分析对机器人的设计和控制具有重要意义。针对轮式移动机器人上集成通用n连杆机械臂的机器人系统，由于该系统具有非完整性和冗余性，对其动力学特性进行建模和分析是一个挑战。本文介绍了一种建立描述系统动力学行为的控制方程集的有效方法，并提出了一种有效分析逆动力学方程的算法。

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Inverse dynamic of a N-links manipulator mounted on a wheeled mobile robot

Modeling and analyzing the inverse dynamic for robotic systems play an important role in designing and controlling the robots. As for the robotic system designed with a general n-links manipulator integrated on a wheeled mobile robot, modeling and analyzing its dynamic cope with challenge since the system consists of the non-holonomics and redundancy properties. In this paper, we introduce an efficient scheme for building a set of the governing equations which describe the system's dynamical behavior, and propose an algorithm for analyzing the inverse dynamic equations effectively.

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2013 International Conference on Control, Automation and Information Sciences (ICCAIS)

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