【摘要】 本文给出了一种沿标称轨迹线性化机器人动力学模型的有效方法.方法具有简单、系统、以及计算量小的优点。对于一个具有6自由度的机器人,用本文的方法建立它的线性化动力学模型(包括沿标称轨迹的广义力计算)所需要的最大计算量为2600个乘法与2711个加法,它可以在微型或小型计算机上实时实现。在计算上,本文的方法是现存所有方法中计算速度最快的.更多还原

【Abstract】 In this paper,an efficient method to linearize dynamic models about a nominaltrajectory for robot manipulators is developed from a straightforward Lagragian form-ulation.This method is very simple and systematic.It can be applied to compute thefeedforward control law(i,e.,the generalized forces/torques)about the desired nom-inal trajectory and to design the feedback controller that reduces or eliminates any dev-iations from the desired nominal trajectory.A conspicuous advantage of using this met-hod is that the number of computations for deriving complete linearized dynamic modelsfor a manipulator is so few that the real-time computation can be realized on a mini-computer or micro-computer.The total number of computations for deriving completelinearized dynamic models(including the computation of the generalized forces torq-ues at the joint)about nominal trajectory for the manipulator with six degrees of free-dom is at most 2600 multiplications and 2711 additions.Computationally,the proposedmethod is the fastest of all existing methods.更多还原