摘要
由一名新闻记者-机器人与机器学习的工作人员新闻编辑每日新闻-关于机器人的详细数据已经公布。根据NewsRx记者从上海发回的新闻报道，研究表明：“混合机器人独特的结构特点，如(DOF)自由度少、约束冗余等，给理论模型的建立带来了一系列挑战，而这些理论模型是运动控制中不可或缺的组成部分。”为此，本文着重建立了仿exechon混合机器人的运动学、动力学和三维刚度模型，并利用这些模型进行误差补偿和速度规划，以提高机器人的运动性能。通过中间参数和K个静力学等效链推导了运动模型,通过分析少自由度寄生运动,消除了模型中的冗余方程,得到了逆运动学解;其次,基于梁单元,确定了连接并串联运动平台的最优等效结构;然后,利用矩阵结构分析方法建立了机器人的刚度模型,结合牛顿-欧拉法和协变形理论建立了机器人的动力学模型,求解了冗余约束引起的欠定动力学方程。设计了基于刚度模型和运动学模型的补偿方法，提高了机器人末端定位精度；设计了基于动力学模型和运动学模型的速度规划算法，提高了机器人运动的平稳性。
Abstract
By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News-Data detailed on Robotics have been pr esented. According to news reporting from Shanghai, People's Republic of China, by NewsRx journalists, research stated, "The unique structural characteristics o f hybrid robots, such as few degrees-of-freedom (DOF) and redundant constraints, lead to a series of challenges in the establishment of theoretical models. Howe ver, these theoretical models are indispensable parts of motion control." The news correspondents obtained a quote from the research from Shanghai Univers ity, "Therefore, this paper focuses on establishing the kinematics, dynamics, an d stiffness models for an Exechon-like hybrid robot, which are then used for err or compensation and velocity planning to improve the robot's motion performance. First, the kinematic model is derived through intermediate parameters and the k inematics equivalent chains. By analyzing the parasitic motion due to few DOF, t he redundant equations in the model are eliminated to obtain the solution of inv erse kinematics. Second, based on the beam element, the optimal equivalent confi guration of the moving platform which connects the parallel part and serial part is determined, and then an entire equivalent structure of the robot is formed. It helps establish the stiffness model by using the matrix structure analysis me thod. Next, the dynamic model is established by combining the Newton-Euler metho d with co-deformation theory to solve the underdetermined dynamic equations caus ed by redundant constraints. Finally, the compensation method is designed based on the stiffness model and kinematic model to improve the end positioning accura cy of the robot; the velocity planning algorithm is designed based on the dynami c model and kinematic model to enhance the smoothness of the robot motion."
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