文献类型：期刊文献

中文题名：基于影响系数法的机器人动力学方程约束关系建立

英文题名：Establishment of Constraint Relation of Robot Dynamics Equation Based on Kinematic Influence Coefficients Method

作者：Xu, Yaru[1,2]; Li, Kehong[1,2]; Shang, Xinna[2]; Jin, Xiaoming[1,2]; Liu, Rong[3]; Zhang, Jiancheng[1,2]

第一作者：Xu, Yaru

机构：[1] Beijing Engineering Research Center of Smart Mechanical Innovation Design Service, Beijing Union University, Beijing, 100027, China; [2] College of Robotics, Beijing Union University, Beijing, 100020, China; [3] Robotics Institute, Beihang University, Beijing, 100191, China

第一机构：北京联合大学

年份：2023

外文期刊名：Journal of Shanghai Jiaotong University (Science)

收录：EI(收录号：20234414977607)

语种：中文

外文关键词：Degrees of freedom (mechanics) - Industrial research - Industrial robots - Kinematics

摘要：Due to the diversity of work requirements and environment, the number of degrees of freedom (DOFs) and the complexity of structure of industrial robots are constantly increasing. It is difficult to establish the accurate dynamical model of industrial robots, which greatly hinders the realization of a stable, fast and accurate trajectory tracking control. Therefore, the general expression of the constraint relation in the explicit dynamic equation of the multi-DOF industrial robot is derived on the basis of solving the Jacobian matrix and Hessian matrix by using the kinematic influence coefficients method. Moreover, an explicit dynamic equation with general constraint relation expression is established based on the Udwadia-Kalaba theory. The problem of increasing the time of establishing constraint relationship when the multi-DOF industrial robots complete complex task constraints is solved. With the SCARA robot as the research object, the simulation results show that the proposed method can provide a new idea for industrial robot system modeling with complex constraints. ? 2023, Shanghai Jiao Tong University.