In this paper,the screw transformations are discussed in detail and theirmatrices are given.Based on Lagrangian equations,a new method for modelling the dy-namic behavior of robots is presented.The derivation is simpl...In this paper,the screw transformations are discussed in detail and theirmatrices are given.Based on Lagrangian equations,a new method for modelling the dy-namic behavior of robots is presented.The derivation is simple,and the configuration ofthe model is concise.All the coefficients are calculated in simple recursive way,which canbe easily programmed in computation.The method presented can also be used in the dy-namic and the kinematic study of spatial mechanisms.展开更多
文摘In this paper,the screw transformations are discussed in detail and theirmatrices are given.Based on Lagrangian equations,a new method for modelling the dy-namic behavior of robots is presented.The derivation is simple,and the configuration ofthe model is concise.All the coefficients are calculated in simple recursive way,which canbe easily programmed in computation.The method presented can also be used in the dy-namic and the kinematic study of spatial mechanisms.
