Dynamics modeling and solution method of tree chain robot based on axis invariant

Abstract

An axis-invariant-based dynamics modeling and solving method for a tree-chain robot. A Ju-Kane dynamics model is provided and proved, is suitable for dynamics numerical computation of a tree-chain multi-axis system and is also suitable for dynamics control of the multi-axis system. The characteristics of a generalized inertia matrix of an axis-chain rigid body and a generalized inertia matrix of an axis-chain rigid body system are systematically analyzed. The principle and process of a dynamics positive solution of a multi-axis system are provided. When a GPU is used for computation, the computation has linear complexity, and when a single CPU is used for computation, the computation has quadratic complexity. The principle and process of a dynamics inverse solution of the multi-axis system are provided, and there is linear complexity. Since the inertia matrix of a system is small, the dynamics computation complexity of the multi-axis system is far lower than that of existing known dynamics systems.

Description

technical field [0001] The invention relates to a tree chain robot dynamics modeling and solving method, belonging to the technical field of robots. Background technique [0002] Lagrangian proposed the Lagrangian method when studying the problem of lunar libration, which is the basic method for expressing dynamical equations in generalized coordinates; at the same time, it is also the basic method for describing quantum field theory. It is already a cumbersome process to use the Lagrange method to establish the dynamic equation. Although the Lagrangian equation derives the dynamic equation of the system based on the invariance of the system energy, it has advantages in theoretical analysis; With the increase of the degree of freedom of the system, the complexity of the equation derivation increases sharply, and it is difficult to be widely used. Compared with the Lagrangian equation, the establishment process of the Kane equation directly expresses the dynamic equation thr...

AI Technical Summary

Problems solved by technology

These dynamic methods require complex transformations in body space, body subspace, system space, and system subspace, whether they are kinematic processes or dynamic processes. The modeling process and model expression are very complicated, and it is difficult to meet the requirements of high-degree-of-freedom systems The demand for modeling and control, therefore, it is necessary to establish a concise expression of the dynamic model; it is necessary to ensure the accuracy of the modeling and the real-time nature of the modeling

Without concise dynamic expressions, it is difficult to ensure the reliability and accuracy of high-degree-of-freedom system dynamics engineering

At the same time, the traditional unstructured kinematics and dynamics symbols stipulate the connotation of the symbols through annotations, which cannot be understood by computers, resulting in the inability of computers to independently establish and analyze kinematics and dynamics models

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