首页|Simulation and Research of the Space 5-DOF Manipulator Kinematics and Dynamics
Simulation and Research of the Space 5-DOF Manipulator Kinematics and Dynamics
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Kinematics and dynamics calculation is meaningful both in the design stage and the movement control stage of a manipulator. After the comparison among different methods of manipulator kinematics and dynamics, this paper adopts homogeneous coordinate transformation to analyze and research positive solutions of the space 5-DOF manipulator kinematics, applies mathematics in the approximate calculation to solve the equations' inverse problems because of the explicit difficult nature to derive analytic solution; conducts dynamics analysis to the manipulator and adopts the Lagrange dynamics method to establish an ideal model, i.e., a dynamics model integrating with corresponding computer algorithm without considering the influences of friction force, to complete the research on the simulation calculation of dynamics inverse solution.
kinematicsdynamicslagrange equationsimulation
Li Li-quan、Wang Jin-li、Pang Yong-gang
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College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001 China
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