The addendum for the generalized d'alembert equations of motion

被引：0

作者：

Dingguo Z. ^{[1
]}

机构：

[1] Science School, Nanjing University of Science and Technology

来源：

Applied Mathematics and Mechanics | 2000年 / 21卷 / 1期

基金：

中国国家自然科学基金;

关键词：

Dynamics; Generalized d ' alembert equations; Robot;

D O I：

10.1007/BF02458542

中图分类号：

学科分类号：

摘要：

In this paper, the traditional generalized d' Alembert equations of motion ( G-D ) in the field of robot dynamics are extended to the circumstances as follows : 1. Considering the robots not only with rotary joints but also with translational joints. 2. Extending the application range of the G-D dynamic equations from the simple chained robots to the tree-structured robots.

引用

页码：73 / 78

页数：5

共 5 条

[1] Walker, M.V., Trans ASME J Systems, Measurement and Control, , Orin D E. Efficient dynamic computer simulation of robot mechanisms[j]. 1982,104:205 - 211
[2] Lee, C.S.G., Computer, , Robot arm kinematics, dynamics,and control[j]. 1982,15(12) :62 - 80
[3] Dingguo, Z., Preceedings of the, , Li Dechang, Xic Daxiong. Computer symbolic modelling of dynamic equations for tree structure robots [A]. In: 2nd Asian Conference on Robotics and Its ApplicationC\. Beijing: International Academic Publisher, 1994
[4] Fu, K.S., Robotics : Control, Sensing, Vision, and Intelligence [M] New York: McGraw-Hill Book Company, 1987., , Gonzalez R C, Lee C S G
[5] Dingguo, Z., Acta Mechanica Sinica, , The application of the method of dividing lane to dynamical analysis of tree systems J [J]. 1994, 26(3): 341-347. (in Chinese)

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