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基于李群方法的工业机器人动力学分析

发表时间:2010-02-28  浏览量:1811  下载量:813
全部作者: 刘博宇,盖玉先
作者单位: 哈尔滨工业大学(威海)船舶工程学院
摘 要: 基于李群方法研究了具有六自由度工业机器人的动力学问题。通过指数映射,对机器人连杆坐标系进行位姿描述,根据李群及李代数的伴随表达及其对偶表达的数学意义,进行速度变换和力变换,以递推形式求出了广义速度和广义加速度,最终得到了广义力的数学模型。通过Matlab编程仿真,分析了当外转矩施加在机器人手腕处时,各个关节驱动转矩的动态特性,并与MSC ADAMS的仿真结果进行对比,证明了利用李群方法建立的机器人动力学模型的有效性。
关 键 词: 机械电子;李群;机器人;动力学;仿真
Title: Dynamic analysis of industrial robot using Lie groups
Author: LIU Boyu, GAI Yuxian
Organization: School of Naval Architecture, Harbin Institute of Technology (Weihai)
Abstract: Lie groups are used to describe the six DOF dynamic equation. Explicit connection between the equation of motion and the concept from Lie theory is established. With the advantages of Lie groups, the acquisition of the robot dynamic equation is easier. Firstly, the transformation is described by exponential map, which can also describe position and pose of the robot. The adjoint representation of Lie groups and Lie algebra is used to describe generalized velocity and acceleration. The final dynamic equation is obtained in recursive form. Then Matlab program is developed to solve the dynamic equation, when working torque is loaded on the wrist, the driving moment dynamic characteristics of each joint is obtained. At last, by MSC ADAMS emulating the robot model, the results of ADAMS coincide with that of Lie groups method. So, Lie groups method in robot dynamics is effective, especially in complex situation.
Key words: mechatronics; Lie groups; robot; dynamics; simulation
发表期数: 2010年2月第4期
引用格式: 刘博宇,盖玉先. 基于李群方法的工业机器人动力学分析[J]. 中国科技论文在线精品论文,2010,3(4):332-337.
 
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