1,2,3自由度机器人动力学的分数阶建模

自主智能(英文) Pub Date : 2021-05-22 DOI:10.32629/jai.v4i1.490

Israel Cerón-Morales

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引用次数: 0

摘要

介绍了一自由度、二自由度和三自由度机器人动力学的分数阶建模方法。利用二阶Lyapunov方法证明了分数阶模型的稳定性。考虑一个基本的物理参数，即连杆的惯性质量。采用Freecad软件进行机械设计。建立了2-DOF和3-DOF机器人的动力学模型，给出了它们在平面(x, y)和空间(x, y, z)上的运动轨迹。在基于单片机的开发卡上对模型进行编程。开发卡的优点在于它的外围输出，因为它有两个模拟输出通道，这些输出通道被发送到示波器。结果与所提出的模型一致。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Fractional Order Modeling of 1,2,3 DOF Robot Dynamic

The fractional order modeling method of robot dynamics with one, two and three degrees of freedom is introduced. The stability of the fractional order model is proved by using the second-order Lyapunov method. A basic physical parameter is considered, that is, the inertial mass of the connecting rod. Freecad software is used for mechanical design. The dynamic models of 2-DOF and 3-DOF robots are established, and their motion trajectories are given in plane (x, y) and space (x, y, z) respectively. The model is programmed on the development card based on microcontroller. The advantage of the development card lies in its peripheral output, because it has two analog output channels, which are sent to the oscilloscope. The results are consistent with the proposed model.

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来源期刊

自主智能(英文)

CiteScore

0.40

自引率

0.00%

发文量