机械臂末端速度加速度的快速运算

摘要

Differentiating angular displacement and displacement at manipulator’s end-effector directly, analysis formulas of angular velocity, linear velocity, angular acceleration and acceleration are given in this paper. According to these formulas, two iterative programs about velocity and acceleration at end-effector is given as well as. Since it is not necessary to count transform matrix from frame{n-1} to {0} in iterative program, the algorithms become simpler and thereby can be used to enhance the property of real-time in manipulator control.%通过对机械臂末端角位移和位移直接求导，给出了末端速度和加速度的解析表示公式，并由此给出了迭代计算程序。由于迭代计算不需要计算第n-1个坐标系到第0个坐标系的变换矩阵，因此使算法得到了简化，有利于提高机械臂控制的实时性。