机器人学基础第4章机器人动力学.pptVIP

中南大学 蔡自兴，谢 斌 zxcai, xiebin@mail.csu.edu.cn 2010 　　 Ch.4 Manipulator Dynamics There are two problems related to the dynamics that we wish to solve. Forward Dynamics: given a torque vector, Τ, calculate the resulting motion of the manipulator, . This is useful for simulating the manipulator. Inverse Dynamics: given a trajectory point, , find the required vector of joint torques, Τ. This formulation of dynamics is useful for the problem of controlling the manipulator. Ch.4 Manipulator Dynamics Two methods for formulating dynamics model： Newton-Euler dy