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Abstract:
In view of the fact that changes of the kinematic and dynamic
parameters of the end-effecter with the clamped object result from
different clamped objects, this paper presents a new numeric-symbolic
dynamic model of the manipulator-object system, by using which and
choosing the local coordinate system attached to the end-effecter as the
reference coordinate system, the serious problem with the
numeric-symbolic dynamic model which arise from sudden changes in the
kinematic and synamic parameters of the end-effecter through picking up
different objects is solved and the number of operation in
computer-aided generation process and solving process of the
numeric-symbolic dynamic model of the robotic manipulator is
significantly reduced.
Key words: 机器人 动力学
Received
199007, received in revised form 199010
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