Dynamics modeling and solution method of closed-chain robot based on axis invariant

Abstract

The invention discloses a closed-chain robot dynamics and calculation method based on axis invariant, wherein a Ju-Kane kinetic equation of a closed-chain rigid-body system is established, which is based on the natural axis chain of joint space to overcome the limitation of Cartesian axis chain space; in Newton-Euler dynamics based on Cartesian axis chain, non-tree kinematic constraints such as rack and gear, worm gear and worm can not be expressed. The constraint algebraic equation of the non-tree constraint pair of the present application can express any constraint class, and the physical connotation is clear; the complexity of solving system equation is reduced; the accuracy of the constraint equation is ensured.

Description

technical field [0001] The invention relates to a closed-chain robot dynamics modeling and solving method, belonging to the technical field of robots. Background technique [0002] Lagrangian proposed the Lagrangian method when studying the problem of lunar libration, which is the basic method for expressing dynamical equations in generalized coordinates; at the same time, it is also the basic method for describing quantum field theory. It is already a cumbersome process to use the Lagrange method to establish the dynamic equation. Although the Lagrangian equation derives the dynamic equation of the system based on the invariance of the system energy, it has advantages in theoretical analysis; With the increase of the degree of freedom of the system, the complexity of the equation derivation increases sharply, and it is difficult to be widely used. Compared with the Lagrangian equation, the establishment process of the Kane equation directly expresses the dynamic equation t...

AI Technical Summary

Problems solved by technology

These dynamic methods require complex transformations in body space, body subspace, system space, and system subspace, whether they are kinematic processes or dynamic processes. The modeling process and model expression are very complicated, and it is difficult to meet the requirements of high-degree-of-freedom systems The demand for modeling and control, therefore, it is necessary to establish a concise expression of the dynamic model; it is necessary to ensure the accuracy of the modeling and the real-time nature of the modeling

Without concise dynamic expressions, it is difficult to ensure the reliability and accuracy of high-degree-of-freedom system dynamics engineering

At the same time, the traditional unstructured kinematics and dynamics symbols stipulate the connotation of the symbols through annotations, which cannot be understood by computers, resulting in the inability of computers to independently establish and analyze kinematics and dynamics models

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