基于解析模型法的机器人动力学建模自动生成软件系统

基于改进的机器人动力学解析（数字-符号）模型算法，研制出用于机器人动力学自动建模的计算机辅助生成软件。在计算机上自动生成机器人的动力学模型元素与运动方程，并产生动力学模型的实时代码。采用的解析模型算法改进了动力模型多项式结构矩阵的优化算法，还简化了代码输出程序，大大减少了中间变量与赋值语句。提高了运算速度及导致最少的浮点乘/加数。该软件还带有图形接口，用于仿真时具有动画显示功能。

SOFTWARE PACKAGE FOR THE AUTOMATED MODELLING OF ROBOTIC DYNAMICS BASED ON IMPROVED ANALYTICAL MODEL ALGORITHM

A Software package for the automated modeling of robotic dynamics has been developed which is based on an improved analytical (aumeric-symbolic) model algorithm. Motion equations of robot in analytical form are derived automatically by the computer, and the software can also generate real-time code of dynamic model automatically on the computer. The improved algorithm improves the optimal operation of the polynomial structure metrics of the dynamic model, and the modus for output real-time code is also simplified with much less intermediate variables which improves the operation speed and results in the minimization of number of floating-point multiplications/additions. The package also has a graphical interface used for real-time simulation and graphics rendering of robotic dynamics.