{"title":"模拟机器人操作手的计算方案","authors":"Jack C. K. Chou, G. Baciu, H. Kesavan","doi":"10.1109/ROBOT.1987.1087926","DOIUrl":null,"url":null,"abstract":"A set of mixed differential and algebraic equations (DAEs) which arises in the simulation of a robot manipulator is solved simultaneously using implicit integration. The dimension of the DAEs which have to be solved by LU factorization at each integration step can be reduced to the number of degrees of freedom by exploring the special structure of the Jacobian matrix of DAEs. The independent and dependent generalized coordinates are determined directly from the system topology. The simulation of a 6-R manipulator is given as an example.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"62 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1987-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"8","resultStr":"{\"title\":\"Computational scheme for simulating robot manipulators\",\"authors\":\"Jack C. K. Chou, G. Baciu, H. Kesavan\",\"doi\":\"10.1109/ROBOT.1987.1087926\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"A set of mixed differential and algebraic equations (DAEs) which arises in the simulation of a robot manipulator is solved simultaneously using implicit integration. The dimension of the DAEs which have to be solved by LU factorization at each integration step can be reduced to the number of degrees of freedom by exploring the special structure of the Jacobian matrix of DAEs. The independent and dependent generalized coordinates are determined directly from the system topology. The simulation of a 6-R manipulator is given as an example.\",\"PeriodicalId\":438447,\"journal\":{\"name\":\"Proceedings. 1987 IEEE International Conference on Robotics and Automation\",\"volume\":\"62 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1987-03-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"8\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings. 1987 IEEE International Conference on Robotics and Automation\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ROBOT.1987.1087926\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROBOT.1987.1087926","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Computational scheme for simulating robot manipulators
A set of mixed differential and algebraic equations (DAEs) which arises in the simulation of a robot manipulator is solved simultaneously using implicit integration. The dimension of the DAEs which have to be solved by LU factorization at each integration step can be reduced to the number of degrees of freedom by exploring the special structure of the Jacobian matrix of DAEs. The independent and dependent generalized coordinates are determined directly from the system topology. The simulation of a 6-R manipulator is given as an example.
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
