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 meth...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.展开更多
A novel palletizing robot is presented and developed.By using the Newton-Euler method and the principle that the instantaneous inertial force system could be transformed into a static system,the force equilibrium equa...A novel palletizing robot is presented and developed.By using the Newton-Euler method and the principle that the instantaneous inertial force system could be transformed into a static system,the force equilibrium equations of the whole robot and its subsystem were derived and the robot＇s dynamic models were established.After that,an example simulation was performed by using Matlab software and the structural optimization of the robot＇s key parts were discussed and analyzed in ANSYS platform.The results show that the dynamic models are correct and can be helpful for the design,validation and kinetic control based on dynamics of this kind of palletizing robots.展开更多
In order to realize the dynamic stable motion control for a leg-wheeled robot, this paper presents a layered control architecture. It is composed of three levels, i.e. the supervisor level, coordinator level and leg l...In order to realize the dynamic stable motion control for a leg-wheeled robot, this paper presents a layered control architecture. It is composed of three levels, i.e. the supervisor level, coordinator level and leg level. The supervisor level is for the task definition and planning, while the coordinator level does the dynamic stable control and the leg level executes the real-time control command. First, we build the efficient Newton-Euler dynamics equations of the robot. Then, the stability control is realized by properly distributing ground reaction forces applied by the legs. We also use Simplex method to optimize the ground reaction force distribution and verify the control method by experimental and numerical results.展开更多
文摘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.
基金Sponsored by the National Natural Science Foundation of China (50675109)
文摘A novel palletizing robot is presented and developed.By using the Newton-Euler method and the principle that the instantaneous inertial force system could be transformed into a static system,the force equilibrium equations of the whole robot and its subsystem were derived and the robot＇s dynamic models were established.After that,an example simulation was performed by using Matlab software and the structural optimization of the robot＇s key parts were discussed and analyzed in ANSYS platform.The results show that the dynamic models are correct and can be helpful for the design,validation and kinetic control based on dynamics of this kind of palletizing robots.
文摘In order to realize the dynamic stable motion control for a leg-wheeled robot, this paper presents a layered control architecture. It is composed of three levels, i.e. the supervisor level, coordinator level and leg level. The supervisor level is for the task definition and planning, while the coordinator level does the dynamic stable control and the leg level executes the real-time control command. First, we build the efficient Newton-Euler dynamics equations of the robot. Then, the stability control is realized by properly distributing ground reaction forces applied by the legs. We also use Simplex method to optimize the ground reaction force distribution and verify the control method by experimental and numerical results.
