机器人动力学

机器人动力学Lagrange方程计算的内积法

The Law of Inner Product of Computation for Robot Dynamics in Lagrange Equation

一个考虑关节角极限的柔性冗余度机器人动力学算法

Algorithm for flexible redundant robot dynamics with considering joint limit

基于ADAMS及ANSYS的柔性机器人动力学仿真系统

A Dynamic Simulation System for Flexible Robot Manipulators Based on ADAMS & ANSYS

基于OpenGL的工业机器人动力学仿真的研究

Animated Simulation for Robot Based on OpenGL

6-DOF并联机器人动力学建模及其控制策略研究

Research on Dynamic Modeling and Control Strategy of 6-DOF Parallel Robot

6-DOF并联机器人动力学建模、非线性解耦及控制

6-DOF parallel robot dynamic modeling , nonlinear decoupling and control

6-DOF并联机器人动力学建模、模糊变结构控制

6 - DOF Parallel Manipulator Dynamic Modeling and Fuzzy Variable Structure Control

并联机器人动力学的子结构Kane方法

Dynamics of Parallel Manipulator Using Sub-Structure Kane Method

本文在已经建立的泳动微机器人动力学模型的基础上，采用PID参数模糊自整定方式对微机器人的运动速度进行控制。

Based on the established dynamic model of swimming micro robot , this paper sets up the PID controller with parameters self-tuning in order to keep the stability of swimming velocity .

并联6-SPS机器人动力学分析

The Dynamic Analysis of parallel 6 - SPS Robot

在简化的轮式移动机器人动力学模型基础上，采用航向预估控制算法进行路径跟踪，运用模糊推理在线整定PID参数。

On the base of the terse wheeled mobile robot , the heading predicting prediction control algorithm is used the path following . This paper utilizes Fuzzy arithmetic to adjust the PID 's parameter .

针对ANSYS不适于机械动力学分析，而ADAMS不适于有限元分析的状况，本文首次将ADAMS及AN-SYS结合，建立了柔性机器人动力学仿真系统。

A system for dynamic simulation of flexible robot has been developed by combining ADAMS ANSYS together for the first time . ADAMS ANSYS is combined by using modal neutral file in the system .

同时基于Newton-Euler方程得到各杆件速度、加速度的递推公式，最终构建出机器人动力学模型。

The velocity and acceleration of the links can be derived from the recursive formula based on Newton-Euler equation .

然后，在Multi-Agent动力学分析计算系统的原型基础上，提出了平面并联机器人动力学分析的Multi-Agent建模方法，建模过程简洁、自然、方便。

Under the base of the prototype on dynamic analysis and calculation in Multi-Agent system , the modeling of the planar parallel robot dynamic analysis is proposed firstly , and its process is simple , natural and convenient .

TT-VGT机器人动力学解析模型

Analytical Model Algorithm for Dynamics of TT VGT Manipulators

将机器人动力学方程直接翻译成计算关节驱动力矩的FORTRAN程序段是一无分支无转移语句的程序段，但该程序段却含有很多重复计算。

The FORTRAN code for computation of the joint drive torques directly translated from the symbolic dynamic equations of a robot consists of n arithmetic assignment statements . But this code contains many redundant computations .

在使用Lagrange法得到微分方程形式的并联机器人动力学模型的基础上，选取跟踪误差为状态变量，推导得到了状态方程形式的动力学模型。

After formulating the dynamics of parallel manipulators as a group of differential equations with Lagrange method , we select the tracking error as state variables , and express the dynamic model by a group of state equations .

TMS32020在机器人动力学控制中的应用

TMS 32020 application for robot dynamic control

提出了应用旋量理论和Lagrangian方程建立闭链机器人动力学方程的一种方法，并以FANUC机器人为例，阐述了该方法的具体步骤。

A new method is presented for establishing the dynamic equation of a closed-chain manipulator based on Lagrangian equation and screw theory , which is illustrated in formulating the dynamic equation of a FANUC robot .

巧妙创新性地通过联合MATLAB和ADAMS建立机器人动力学仿真模型和闭环控制模型，并设计和验证了一种基于CMAC和PID的复合控制算法。

A dynamics simulation model and closed-loop control model were built skillfully through MATLAB and ADAMS , and a compound control method based on CMAC and PID was validated . Secondly , trajectory planning of the robot was studied in the joint space and Cartesian space .

在仿人机器人动力学模型分析的基础上，利用FRI点的概念考察仿人机器人姿态稳定性；

Secondly , the dynamic model of the humanoid robot is studied and the concept of FRI point is proposed to review the postural stability of the humanoid robot ;

机器人动力学模型的BMAC多网络模拟采用机器人动力学方法推导起重机吊重摆振动力学方程具有准确、方便、规律性强的优点。

Application of Higher-Order CMAC Neural Networks , the BMAC to tbe Modelling of Robotic Dynamics The method of robotic dynamics to derive the dynamic equations of the swing of load is accurate and convenient and it has good regularity .

基于最小值原理的冗余度机器人动力学控制

Research on Dynamic Optimum Control Based on Minimum Principle for Redundant Manipulators

柔性冗余度机器人动力学规划

Flexible Redundant Robot Dynamic Planning with Depressing Vibration and Joint Torque Optimization

综合考虑关节及杆柔性的空间机器人动力学分析

Dynamic Analysis of Spatial Manipulators Considering Joint and Link Flexibility

机器人动力学的一种通用算法（Ⅰ）&动力学算法的导出

A General-purposed Algorithm for Robots Dynamics (ⅰ) & Derivation of the Algorithm

带闭链机器人动力学建模的符号－数值技术

Symbolic-Numerical Technique for the Dynamic Modelling of Robotic Manipulators with Closed Chain

可穿戴下肢助力机器人动力学建模及其控制研究

Research on Dynamic Analysis and Control of the Wearable Power Assist Robot

基于局部信息的可重构模块机器人动力学控制方法研究

Study on Dynamics Control for Reconfigurable Modular Robots Based on Local Information

基于旋量理论凯恩动力学方程的开链机器人动力学分析

Dynamics Analysis for Open-chain Manipulators Based on Screw Theory Kane Dynamic Equations