双臂机器人机构加速度约束方程的快速建立

The fast establishment of constrained equations of acceleration for two arm robotic mechanisms

摘要: 在双臂机器人机构速度约束方程的基础上，应用叠加原理和递推算法，建立双臂协调运动过程应满足的加速度约束方程。

Abstract: Based on the constrained equations of velocity of two arm robotic mechanisms,by using the principle of supersition and the recursive formulation,it is established that the constrained equations of acceleration for two arm robotic mechanisms in the process of coordinate motion.