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Alternative TitleRelative Dynamic Modeling of Dual-arm Coordination Robot
张建华1,2; 许晓林1; 刘璇1; 张明路1
Source Publication机械工程学报
Indexed ByEI ; CSCD
EI Accession number20191906870259
Contribution Rank1
Funding Organization国家自然科学基金(51575157,61473113) ; 机器人学国家重点实验室基金(2015002) ; 河北省自然科学基金重点(E2016202342)资助项目
Keyword相对雅可比矩阵 协调 动力学建模 双臂机器人
Other AbstractThe dynamic modeling of dual-arm robot is the key technology to study the coordinated motion of the two arms. The difficulty lies in establishing the connection between the two robot arms in the same system. Aiming at the problem of dynamic modeling of dual-arm coordination robot, the general dynamic models of the two manipulators based on the Lagrangian equation is established, and the vector analytical method is used to solve the angular velocity Jacobian matrix of the single arm. Then combining the principle of virtual displacement, and based on the relative Jacobian matrix, the relative dynamics model of the dual-arm coordination robot is established. And the relationship between the relative forces of the ends of the two manipulators and the joint parameters is established. Simulation and experimental results demonstrate the correctness of vector analytical method and relative dynamics model. The model can solve the relative force of the ends of the two manipulators and provide a theoretical basis for analyzing the coordinated motion of the two arms.
Citation statistics
Cited Times:1[CSCD]   [CSCD Record]
Document Type期刊论文
Corresponding Author张建华
Recommended Citation
GB/T 7714
张建华,许晓林,刘璇,等. 双臂协调机器人相对动力学建模[J]. 机械工程学报,2019,55(3):34-42.
APA 张建华,许晓林,刘璇,&张明路.(2019).双臂协调机器人相对动力学建模.机械工程学报,55(3),34-42.
MLA 张建华,et al."双臂协调机器人相对动力学建模".机械工程学报 55.3(2019):34-42.
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