| 基于李群方法的6自由度机器人机构动力学分析 |
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| 引用本文： | 刘会英,杨彩君,刘博宇. 基于李群方法的6自由度机器人机构动力学分析[J]. 机械设计与研究, 2011, 27(5): 29. DOI: 10.13952/j.cnki.jofmdr.a2725 |
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| 作者姓名： | 刘会英 杨彩君 刘博宇 |
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| 作者单位： | 哈尔滨工业大学(威海)机械工程系;威海广泰空港设备股份有限公司; |
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| 摘 要： | 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。
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| 关 键 词： | 李群 机器人 动力学 仿真 |
Dynamic Analysis of Industrial Robot Using Lie Groups |
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| LIU Hui-ying,YANG Cai-jun,LIU Bo-yu. Dynamic Analysis of Industrial Robot Using Lie Groups[J]. Machine Design and Research, 2011, 27(5): 29. DOI: 10.13952/j.cnki.jofmdr.a2725 |
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| Authors: | LIU Hui-ying YANG Cai-jun LIU Bo-yu |
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| Affiliation: | LIU Hui-ying1,YANG Cai-jun2,LIU Bo-yu1 (1.Harbin Institute of Technology at Weihai,Department of Mechnical Engineering,Weihai Shandong 264209,China,2.Weihai Guangtai Airport Equipment Co.,Ltd Weihai Shandong,264209,China) |
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| Abstract: | The 6-DOF robot mechanism dynamic equation is described with Lie group.Explicit connections between the equations of motion and concepts from Lie theory are established.First,the transformation is described by the exponential map,which can also describes the position and pose of the robot.The adjoint representation of the Lie group and the Lie algebra is used to describe the generalized velocity and acceleration.The final dynamic equation is obtained in recursive form.Then Matlab program is developed to sol... |
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| Keywords: | lie groups robot dynamics simulation |
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