【摘要】 本文给出了一种相对于机器人各臂坐标系,计算 Lagrange-Euler 形式的机器人动力学方程快速实时方法。在计算上,这种新方法比文献〔1〕～〔3〕中的方法更有效,计算量更小。对于一个六自由度的机器人,它的计算量至多为893个乘法与719个加法。尽管在理论上这种方法的计算量比 Newton-Euler 方法的计算量(852个乘法与738个加法)约多40个乘法,伹实际程序运行时间比 Newton-Euler 方法短。更多还原

【Abstract】 This paper presents a fast real-time scheme for computing the Lagrange-Eulerdynamic equations with respect to the link coordinate systems of a robot manipulator.This method of computation is more efficient than those methods of references〔1〕＃〔3〕.For a robot manipulator with six degrees of freedom,the number of operationsto obtain the complete dynamic equations is at most 893 multiplications and 719 additionsby themethod given in this paper.Although the number of operation of the methodgiven in this paper is theoretically about 40 multiplications more than that of theNewton-Euler method,the run time of programming is evidently shorter than that ofthe Newton-Euler method.更多还原