Establishment of Constraint Relation of Robot Dynamics Equation Based on Kinematic Influence Coefficients Method

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外文摘要：Due to the diversity of work requirements and environment,the number of degrees of freedom(DOFs)and the complexity of structure of industrial robots are constantly increasing.It is difficult to establish the accurate dynamical model of industrial robots,which greatly hinders the realization of a stable,fast and accurate trajectory tracking control.Therefore,the general expression of the constraint relation in the explicit dynamic equation of the multi-DOF industrial robot is derived on the basis of solving the Jacobian matrix and Hessian matrix by using the kinematic influence coefficients method.Moreover,an explicit dynamic equation with general constraint relation expression is established based on the Udwadia-Kalaba theory.The problem of increasing the time of establishing constraint relationship when the multi-DOF industrial robots complete complex task constraints is solved.With the SCARA robot as the research object,the simulation results show that the proposed method can provide a new idea for industrial robot system modeling with complex constraints.

外文关键词：

industrial robotconstraint relationshipkinematic influence coefficients methodJacobian matrixHessian matrix

作者：

徐亚茹、李克鸿、商新娜、金晓明、刘荣、张建成

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作者单位：

Beijing Engineering Research Center of Smart Mechanical Innovation Design Service,Beijing Union University,Beijing 100027,China

College of Robotics,Beijing Union University,Beijing 100020,China

Robotics Institute,Beihang University,Beijing 100191,China

基金：

Beijing Municipal Science and Technology ProjectAcademic Research Projects of Beijing Union UniversityAcademic Research Projects of Beijing Union UniversityBeijing Municipal Science and Technology Project

项目编号：

KM202111417006ZK10202305ZK80202004KM202111417005

出版年：

2024

DOI：

10.1007/s12204-023-2661-4

上海交通大学学报(英文版)

上海交通大学

上海交通大学学报(英文版)

影响因子：0.151

ISSN：1007-1172

年,卷(期)：2024.29(3)