A NEW METHOD FOR LAGRANGIAN DYNAMIC MODELLING OF ROBOTS-中国期刊网

摘要 Inthispaper,thescrewtransformationsarediscussedindetailandtheirmatricesaregiven.BasedonLagrangianequations,anewmethodformodellingthedy-namicbehaviorofrobotsispresented.Thederivationissimple,andtheconfigurationofthemodelisconcise.Allthecoefficientsarecalculatedinsimplerecursiveway,whichcanbeeasilyprogrammedincomputation.Themethodpresentedcanalsobeusedinthedy-namicandthekinematicstudyofspatialmechanisms.

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A NEW METHOD FOR LAGRANGIAN DYNAMIC MODELLING OF ROBOTS

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A NEW METHOD FOR LAGRANGIAN DYNAMIC MODELLING OF ROBOTS

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