论文部分内容阅读
以双机械手协调作业为例．介绍了多机械手系统建模的一般方法．对于不同数目的机械手以及不同的作业任务，通过定义广义变量，建立关于广义变量的运动学和动力学方程，进而获得多机械手系统的统一模型．它为多机械手系统的控制和仿真提供了基础．
Take the example of dual-robot coordination. The general method of multi-robot system modeling is introduced. For different numbers of manipulators and different tasks, the kinematics and dynamics equations of generalized variables are established by defining generalized variables, and the uniform model of multi-manipulator system is obtained. It provides the foundation for control and simulation of multi-robot systems.