摘要
A method known as spinor method is applied to the study of dynamic model of robot.It merges velocity and angular velocity.Force and moments into an organic whole by their internal relation, and mates Newton-Euler method more concise and efficient.A reference system is formed with respect to the mass center of the arms of robot, which simplifies the calculation of inertial lensor and mass center acceleration.And further reduces work load in calculation, and thus ensures a fast real-timecalculation.
A method known as spinor method is applied to the study of dynamic model of robot.It merges velocity and angular velocity.Force and moments into an organic whole by their internal relation, and mates Newton-Euler method more concise and efficient.A reference system is formed with respect to the mass center of the arms of robot, which simplifies the calculation of inertial lensor and mass center acceleration.And further reduces work load in calculation, and thus ensures a fast real-timecalculation.
