【摘要】 在机器人的运动学和动力学分析中,杆的附件坐标系通常是建立在关节轴线上的.本文采用在机器人各杆的质心建立杆附体坐标系的方法,推导了机器人的牛顿-欧拉动力学递推方程.并以平面两杆机械手为例给出这种方法的结果.更多还原

【Abstract】 Coordinate frame fixed in link of robot is assingned at each joint axis generally.In this paper,the Newton-Euler robotic dynamic equations are derived by using the method of assigning coordinate frame attached rigid-ly to link at its center of mass.Results for a plane-two-link robot arm are presented.更多还原