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An efficient dynamic modeling method for multi-degree-of-freedom manipulators

A technology of dynamic modeling and manipulators, applied in special data processing applications, instruments, electrical digital data processing, etc., can solve problems such as difficult to achieve real-time control

Inactive Publication Date: 2014-10-29
BEIJING UNIV OF POSTS & TELECOMM
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

When the number of degrees of freedom of the manipulator increases, the amount of dynamic calculation increases exponentially, making it difficult to meet the requirements of real-time control

Method used

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  • An efficient dynamic modeling method for multi-degree-of-freedom manipulators
  • An efficient dynamic modeling method for multi-degree-of-freedom manipulators
  • An efficient dynamic modeling method for multi-degree-of-freedom manipulators

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Embodiment 1

[0104] According to the mechanical arm forward and reverse dynamic calculation model established in the present invention, for such as image 3 The seven-degree-of-freedom manipulator shown is the research object for verification. The D-H parameters of the manipulator and the bar parameters are shown in Table 1 and Table 2.

[0105] Table 1 Robotic arm D-H parameter list

[0106] Connecting rod i θ i (°) d i (m) a i-1 (m) α i-1 (°) 1 θ 7 (0) 1.2 0 90° 2 θ 6 (90) 0.53 0 -90° 3 θ 5 (0) 0.53 5.8 0 4 θ 4 (0) 1.05 5.8 0 5 θ 3 (0) 0 0 90° 6 θ 2 (-90) 0.53 0 -90° 7 θ 1 (0) 1.2 0 0

[0107] Table 2 Mass and inertia parameters of the manipulator arm

[0108]

[0109] Use the method described in the manual to establish the dynamic model of the seven-degree-of-freedom manipulator, and its program realizes the flow of dynamic calculati...

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Abstract

The invention discloses an efficient modeling method for a multi-degree of freedom (multi-DOF) mechanical arm. The method mainly comprises the following steps of: describing speed, acceleration, force and moment of each joint of the mechanical arm by using the screw theory; performing inverse dynamic modeling on the mechanical arm by using the spatial operator algebraic theory; and obtaining a generalized inertial mass matrix of the mechanical arm and a factorization form of the inverse matrix of the mechanical arm by using a Kalman filter smoothing method so as to obtain an efficient lower dynamic model. According to the method, the efficient dynamic calculation problem of the multi-DOF mechanical arm is solved, and the calculation efficiency of the method is first power magnitude order of the degree of freedom of the mechanical arm; meanwhile, the method has strong theoretical property, intuitive expression form and definite physical significance.

Description

technical field [0001] The invention relates to a dynamic modeling method of a multi-degree-of-freedom mechanical arm, which belongs to the technical field of mechanical arm modeling. Background technique [0002] With the continuous development of science and technology, robotic arms are widely used in the processing and assembly of factory workshops, as well as the assembly and maintenance of space stations, and robotic arm technology has become an important research direction. The dynamics of the manipulator is the theoretical basis for the simulation control and structural design of the manipulator. The dynamic modeling method for the manipulator has become mature. However, with the increase of the degree of freedom of the manipulator, the dynamics calculation will be more complicated and difficult. Satisfy the real-time performance of calculation. In order to successfully complete the real-time simulation control of the manipulator, it is very important to carry out re...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F17/50
Inventor 贾庆轩郑双奇陈钢孙汉旭
Owner BEIJING UNIV OF POSTS & TELECOMM
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