机器人学基础机器人动力学蔡自兴.pptVIP

机器人学基础⑥ 第四章机器人动力学 中南大学 蔡自兴,谢斌 zXcai.xiebin@mail.csu.edu.cn 2010  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 Newton-Euler dynamic formulation n Newton s equation along with its rotational analog Eulers equation, describe how forces, inertias, and accelerations relate for rigid bodies, is aforce balance approach to dynamics Lagrangian dynamic formulation Lagrangian formulation is anenergy-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, o.C. and C This is useful for simulating the manipulator Inverse Dynamics: given a trajectory point, 0, @. and 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.An dt求q where q; is the generalized coordinates, c represent corresponding velocity, Fi stand for corresponding torque or force on the ith coordinate 4.1 Dynamics of a Rigid Bod