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本文主要讨论了仿人操作手动力学正问题的模拟,即给定操作手末端执行器的运动和位姿,求解各关节的广义力。机器人动力学模拟涉及到机器人的轨迹规划、运动学反解,以及动力学建模和求解问题。对于球腕结构的六自由度仿人操作手来说,本文提出了用系统分解法进行运动学反解,用凯恩方程建立机器人动力学模型。本方法解算简便,经略微修改可适用于一般关节型机器人动力学模型。
This paper mainly discusses the simulation of the positive problem of humanoid manipulative mechanics, ie solving the generalized force of each joint given the motion and pose of the manipulator. Robot dynamics simulation involves robot trajectory planning, inverse kinematics, and dynamics modeling and solving problems. For six-DOF humanoid manipulator with ball-wrist structure, a kinematic inverse method using systematic decomposition is proposed in this paper. The kinematic model of robot is established by using Kane’s equation. The method is easy to solve and can be applied to the kinematics model of general joint robot with slight modification.