【摘要】 以拉格朗日方程为基本理论,PualR.P.推导简化的单臂机器人动力学方程为基本公式,视纱带张力为3R臂与3P臂分别所受的外力,建立了该双臂机器人的动力学模型及力协调约束方程,并进行了逆运动学问题的求解.更多还原

【Abstract】 The dynamics model and moment constrained equation of the Twoarm robot arestudied, and the abhorrent dynamics problem is worked out. All of these base on the theory of Lagrange equation and the single robot dynamics equation of Pual R P,and look the strain of 3R and 3P as strength.更多还原