机器人学基础-第4章-机器人动力学-蔡自兴资料.pptVIP

中南大学 蔡自兴，谢 斌 zxcai, xiebin@mail.csu.edu.cn 2010 　　 Ch.4 Manipulator Dynamics Two methods for formulating dynamics model： Newton-Euler dynamic formulation Newtons equation along with its rotational analog, Eulers equation, describe how forces, inertias, and accelerations relate for rigid bodies, is a force balance approach to dynamics. Lagrangian dynamic formulation Lagrangian formulation is an energy-based approach to dynamics. Ch.4 Manipulator Dynamics There are two problems related to the dynamics of a manipulator that we wish to solve. Forward Dynamics: given a torque vector, Τ, calcu