The commonly used method for dynamic analysis of industrial manipulators is to use Lagrange equation for dynamic modeling and then to carry out simulation calculation. Pieper criterion is used to simplify the expansion of dynamic equation of five-degree-of-freedom (5-DoF) industrial manipulator. The joint of wrist and grip was regarded as external interference, and the dynamic analysis of the first three joints was carried out only. Then, an open source engine Ordinary Differential Equation (ODE) was proposed to complete the dynamic calculation of the manipulator for the simplified model. Finally, ODE was used to carry out the dynamic calculation of the manipulator on the established three-dimensional simulation platform. The simulation method and simulation results show that the simulation method can not only realize the real-time control of the manipulator, but also obtain the dynamic parameters curve of the manipulator. It provides a theoretical basis for solving the problem of low efficiency and poor real-time performance in the dynamics simulation of manipulator.
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肖爽,孙文磊,樊军.工业机械臂动力学模型简化分析与仿真[J].机床与液压,2020,48(1):141-145. . Simplified Analysis and Simulation of Dynamic Model of Industrial Manipulator[J]. Machine Tool & Hydraulics,2020,48(1):141-145