摘要
本文基于递推多体动力学的李群表示方法,提出了使用混合编程和句柄图形来设计机器人仿真软件的思想。进一步地,在VisualC++6.0编译环境下,调用MATLAB函数库开发了三维可视化的开环机器人仿真软件。此软件能够实现欠驱动系统、机器人、步行机械等复杂系统建模和运动优化,且可以完全独立于MATLAB运行,灵活性强。可对欠驱动系统和人类运动系统进行运动优化,具有良好的应用价值。
Based on a Lie group formulation for the recursive dynamics of under-actuated tree topology systems,a method to design multibody simulation software using Hybrid Programming and Handle Graphic operation is proposed.And a 3-D simulation software for open chain robots is developed by using the MATLAB functions under Visual C＋＋6.0 environment.The software can be executed without MATLAB and is applicable to a wide range of multi-body systems,including under-actuated systems,robots,and walking machines.
出处
《微计算机信息》
2010年第14期160-162,共3页
Control & Automation
关键词
欠驱动系统
李群
混合编程
句柄图形
运动优化
under-actuated system
lie groups
hybrid programming
handle graphic
motion optimization
