机器人动力学模型在轨迹规划中的应用

摘要

提出了一种应用拉格朗日方程建立机器人动力学模型的方法.以单自由度机器人为例 ,根据其动力学模型 ,使用MATLAB软件对单自由度机器人常用的3种运动轨迹进行轨迹规划 ,仿真结果符合要求.%At first ,the method of establishing the dynamic model of a robot by Lagrange equation is proposed .Then ,a single degree of freedom robot is taken as example ,based on the dynamic model ,the trajectory planning of the robot is carried out using MAT-LAB software .The simulation results show the optimized trajectory can meet the requirements .