机械臂动力学采用扩展的零参考位置描述

IEEE J. Robotics Autom. Pub Date : 1986-12-01 DOI:10.1109/JRA.1986.1087061

K. Kazerounian, K. C. Gupta

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引用次数: 16

摘要

机器人机械臂的简化描述是用它的零参考位置来描述的。它要求指定关节轴方向和关节轴所在点在基坐标系中的坐标。机械臂动力学是在扩展的零参考位置描述中发展起来的。给出了逆动力学和正动力学问题的递推牛顿-欧拉公式。

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Manipulator dynamics using the extended zero reference position description

A simplified description of robotic manipulator is in terms of its zero reference position. It requires the specification of the joint axes directions and the coordinates of points locating the joint axes in the base coordinate system. Manipulator dynamics is developed in an extended zero reference position description. The recursive Newton-Euler formulations for the problems of inverse and direct dynamics are presented.

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IEEE J. Robotics Autom.

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