机器人学基础 机器人动力学.pptVIP

Contents Ly Introduction to Dynamics 口 Rigid body dynamics b Lagrangian Formulation m Newton-Euler formulation - Articulated Multi-Body Dynamics Ch 4 Manipulator Dynamics  Ch 4 Manipulator dynamics Introduction Manipulator Dynamics considers the forces required to cause desired motion Wrist Considering the equations of motion arises from torques applied by the actuators, or from external forces applied to the manipulator Ch 4 Manipulator Dynamics  Ch 4 Manipulator dynamics Two methods for formulating dynamics model n Newton-Euler dynamic formulation Newtons equation along with its rotational analog Eulers equation, describe how forces, inertias, and accelerations relate for rigid bodies, is aforce balanceapproach to dynamics Lagrangian dynamic formulation Lagrangian formulation is an energy-based approach to dynamics Ch 4 Manipulator Dynamics  Ch 4 Manipulator dynamics I There are two problems related to the dynamics of a manipulator that we wish to solve Forward Dynamics: given a torque vector T calculate the resulting motion of the manipulator, .. and C This is useful for simulating the manipulator Inverse Dynamics: given a trajectory point, 0. @ and e, find the required vector of joint torques, T. This formulation of dynamics is useful for the problem of controlling the manipulator Ch 4 Manipulator Dynamics  Contents Introduction to Dynamics Ly Rigid Body Dynamics A Lagrangian Formulation m Newton-Euler formulation - Articulated Multi-Body Dynamics Ch 4 Manipulator Dynamics  4.1 Dynamics of a Rigid body 刚体动力学 I Langrangian Function L is defined as L=K-P 4.1) Kinetic Energy Potential Energy Dynamic Equation of the system Langrangian Equation d oL aL F 1,2,A dt求 where q; is the generalized coordinates, x represent corresponding velocity, Fi stand for corresponding torque or force on the ith coordinate 4.1 Dynamics of a Rigid Body  4. 1 Dynamics of a Rigid body 4.1.1 Kinetic and Potential Energy of a