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用李群李代数建立了六自由度机器人的机构动力学方程,描述了机器人的位姿及相应的速度和加速度。并对六自由度工业机器人进行了Matlab仿真与Adams验证,应用李群推法得到了关节驱动力矩与根据Adams分析所得的关节驱动力矩具有很好的一致性,误差为5%。说明了李群方法在机器人动力学分析中的适用性。
The kinematics equations of six degree-of-freedom robots are established by Li Qun-Lie algebra. The robot pose and velocity and acceleration are described. The Matlab simulation and Adams verification of six degree-of-freedom industrial robots are carried out. The joint driving torque obtained by the Lie group method is in good agreement with the joint driving torque obtained from Adams analysis, and the error is 5%. The applicability of Lie group method in robot dynamics analysis is illustrated.