机器人动力学的符号多项式自动建模与快速求解

Journal of Mechanisms Transmissions and Automation in Design Pub Date : 1989-12-01 DOI:10.1115/1.3259035

M. A. Townsend, S. Gupta

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引用次数: 6

摘要

为了实现机械臂的实时在线控制，需要快速准确地求解机械臂的动力学方程。本文提出了一种快速准确评估机器人动态状态的新方法。这种方法结合了对运动方程的符号和数值计算，这些方程以多项式的形式发展，因此被称为符号多项式技术。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Automated Modeling and Rapid Solution of Robot Dynamics Using the Symbolic Polynomial Technique

Fast and accurate solutions of the dynamic equations of a robot arm are required for real time on-line control. In this paper we present a new method for rapidly evaluating the exact dynamic state of a robot. This method uses a combination of symbolic and numerical computations on the equations of motion, which are developed in the form of polynomials—hence the name, the symbolic polynomial technique.

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Journal of Mechanisms Transmissions and Automation in Design

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