【物理】机器人控制技术课件Chapter Manipulator dynamics.pptVIP

* * z * * Hence, the total potential energy is given by * * Chapter 6 Manipulator dynamics * 6.1 Acceleration of a rigid body * Linear acceleration When origins are coincident: = * Combining two terms, we get To generalize to the case in which the origins are not coincident, * Angular acceleration * 6.2 Mass distribution Moment of inertia Inertia tensor * Inertia tensor * * Sims * Similarly * Similarly Hence, the inertia tensor for this object is * 6.3 Newton’s equation, Euler’s eq. Newton’s equation * Euler’s equation * 6.4 Iterative newton- Euler dynamic formulation Known Position, velocity and accelerations of the joints Kinematics Mass distribution of the robot calculation The joint torques required to cause this motion * Outward iterations to compute velocities and accelerations The “propagation” of rotational velocity from link to link was discussed in Chapter 5 * The force and torque acting on a link Inward iterations to compute forces and torques * According to (6.38), we can write (6.39) as * The iterative Newton-Euler dynamics algorithm * Inclusion of gravity forces in the dynamics algorithm Setting This is equivalent to saying that the base of the robot is accelerating upward with 1g acceleration. * 6.5 An example of closed-form  dynamic equations * * * * * * * * 6.6 The structure of a manipulator’s  dynamic equation The state space equation * The configuration space equation * 6.7 Lagrangian formulation of  manipulator dynamics Newton-Euler formulation “force balance” approach to dynamics Lagrangian formulation “energy-based” approach to dynamics * The total kinetic energy of the manipulator is *