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双臂协调机器人相对动力学建模
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
Department机器人学研究室
Source Publication机械工程学报
ISSN0577-6686
2019
Volume55Issue:3Pages:34-42
Indexed ByEI ; CSCD
EI Accession number20191906870259
CSCD IDCSCD:6456696
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
Abstract双臂机器人动力学建模是研究双臂协调运动的关键技术,难点在于同一系统中建立两机械臂之间联系。针对双臂协调机器人动力学建模问题,基于拉格朗日方程建立了两臂动力学模型一般形式,运用矢量解析法求解单臂角速度雅可比矩阵,然后结合虚位移原理,基于相对雅可比矩阵建立双臂协调机器人相对动力学模型,确立两机械臂末端相对作用力与关节参数之间关系。仿真和试验结果验证了矢量解析法与相对动力学模型的正确性,该模型能够求解两机械臂末端相对力,为分析双臂协调运动提供理论依据。
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.
Language中文
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Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/23886
Collection机器人学研究室
Corresponding Author张建华
Affiliation1.河北工业大学机械工程学院
2.中国科学院沈阳自动化研究所机器人学国家重点实验室
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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