【摘要】 本文以尽可能地消除多关节运动量对动力学参数的重复耦合为基本思想,提出了重复运动量的概念,得出了一种新的机器人动力学参数辨识方法——单、多关节运动相结合的特殊关节运动递推法.更多还原

【Abstract】 Based on the repeating undecouple of joint variables on dynamic parameters,a new concept of repeatingvariable has been advanced,then,a new identification method of dynamic parameters was derived,whichcombining special joint motions with recursive algorithms and eliminating as far as possible repeating vari-ables.更多还原