{"title":"机械臂动力学方程自动生成的一种有效算法","authors":"S. Yin, J. Yuh","doi":"10.1109/ROBOT.1989.100237","DOIUrl":null,"url":null,"abstract":"An algorithm generating the dynamic equations of the manipulator in a symbolic form is presented. The proposed algorithm is based on a modified Lagrange-Christoffel formulation of robot dynamics. A PC-based program, ARDEG, implements the algorithm and automatically generates the equations of motion for open-chain manipulators in a symbolic form. Various types of manipulators are investigated to evaluate the efficiency of the program. In a 3-DOF PUMA robot, the ARDEG-generated algorithm reduces the computational load of a general Newton-Euler recursive algorithm by 80% and that of a recursive algorithm generated by the computer program ARM by more than 22%.<<ETX>>","PeriodicalId":114394,"journal":{"name":"Proceedings, 1989 International Conference on Robotics and Automation","volume":"382 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1989-05-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"6","resultStr":"{\"title\":\"An efficient algorithm for automatic generation of manipulator dynamic equations\",\"authors\":\"S. Yin, J. Yuh\",\"doi\":\"10.1109/ROBOT.1989.100237\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"An algorithm generating the dynamic equations of the manipulator in a symbolic form is presented. The proposed algorithm is based on a modified Lagrange-Christoffel formulation of robot dynamics. A PC-based program, ARDEG, implements the algorithm and automatically generates the equations of motion for open-chain manipulators in a symbolic form. Various types of manipulators are investigated to evaluate the efficiency of the program. In a 3-DOF PUMA robot, the ARDEG-generated algorithm reduces the computational load of a general Newton-Euler recursive algorithm by 80% and that of a recursive algorithm generated by the computer program ARM by more than 22%.<<ETX>>\",\"PeriodicalId\":114394,\"journal\":{\"name\":\"Proceedings, 1989 International Conference on Robotics and Automation\",\"volume\":\"382 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1989-05-14\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"6\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings, 1989 International Conference on Robotics and Automation\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ROBOT.1989.100237\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings, 1989 International Conference on Robotics and Automation","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROBOT.1989.100237","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
An efficient algorithm for automatic generation of manipulator dynamic equations
An algorithm generating the dynamic equations of the manipulator in a symbolic form is presented. The proposed algorithm is based on a modified Lagrange-Christoffel formulation of robot dynamics. A PC-based program, ARDEG, implements the algorithm and automatically generates the equations of motion for open-chain manipulators in a symbolic form. Various types of manipulators are investigated to evaluate the efficiency of the program. In a 3-DOF PUMA robot, the ARDEG-generated algorithm reduces the computational load of a general Newton-Euler recursive algorithm by 80% and that of a recursive algorithm generated by the computer program ARM by more than 22%.<>
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