适用于双臂机器人机构的动力学方程
Dynamic equations for two arm robotic mechanisms
-
摘要: 在单臂机器人机构动力学基础上，对双臂机器人机构进行动力学分析，建立双臂机器人机构协调运动的动力学方程；并利用奇异值分解方法对动力学方程的解进行讨论Abstract: Based on the dynamics of one arm robotic mechanism,this paper develops dynamic analysis of two arm robotic mechanisms,establishes the dynimic equations of two arm robotic mechanisms in the process of coordinate motion and discusses the solution of dynamic by the method of a singular value decomposition (SVD).
下载: