| 基于空间算子代数的高效率机器人反向动力学建模方法 |
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| 引用本文： | 刘云平.基于空间算子代数的高效率机器人反向动力学建模方法[J].南京气象学院学报,2011(3):255-258. |
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| 作者姓名： | 刘云平 |
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| 作者单位： | 南京信息工程大学信息与控制学院, 南京, 210044;淮阴工学院数字化制造技术重点实验室, 淮安, 223003 |
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| 基金项目： | 国防十一五预研项目;淮阴工学院数字化制造技术重点实验室开放课题(HG-DML0904) |
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| 摘 要： | 针对大规模多体系统动力学建模过程复杂及计算效率、精度不高的难题,在空间算子代数理论的基础上,通过旋量表达的有关力学量和运动量,将包含机构拓扑关系及运动、力递推关系的移位算子直接与Newton-Euler递推动力学计算相结合,实现了广义速度、广义加速度、广义力和广义质量沿着链正向或反向递推,避免了交叉运算和不必要的积分运算,得到了高效率、高精度的动力学建模方法.该方法形式简洁、物理意义明确,适于计算机编程和运算,具有重要的科学意义和工程应用价值,并通过算例验证了结果的正确性和有效性.
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| 关 键 词： | 动力学建模 递推 高效率 空间算子代数 |
| 收稿时间： | 2010/9/1 0:00:00 |
Research of high efficient inverse dynamics of robot based on spatial operator algebra |
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| LIU Yunping.Research of high efficient inverse dynamics of robot based on spatial operator algebra[J].Journal of Nanjing Institute of Meteorology,2011(3):255-258. |
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| Authors: | LIU Yunping |
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| Institution: | College of Information and Control, Nanjing University of Information Science & Technology, Nanjing 210044;Jiangsu Provincial Key Laboratory of Digital Manufacturing Technology, Huaiyin Institute of Technology, Huaian 223003 |
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| Abstract: | For the complex dynamics modelling process,low computational efficiency accuracy of large scale multibody system,an efficient and precise dynamics modelling method is proposed based on spatial operator algebraic.The method combines transformation operators,which include recursive relations of system topology structure,motion and strength,with recursive dynamics of Newton-Euler through the dynamics variables expressed by screw.This method achieves forward backward recursion of generalized velocity,acceleration force,strength and mass,and avoids cross operation and unnecessary integrals.It is valuable in scientific and engineering aspects for its brief modeling process,clear physical meaning,and suitability in computer programming and calculation.An example is given to verify this method. |
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| Keywords: | dynamics modeling recursive efficient spatial operator algebra |
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