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《China Mechanical Engineering》 2016-01
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High Effective Inverse Dynamics Modelling for Multi-DOF Serial Robots

Shen Haoyu;Wu Hongtao;Chen Bai;Nanjing University of Aeronautics and Astronautics;  
To deal with the problem of inverse dynamics modelling for multi-DOF serial robot,a recursive inverse dynamics modelling method was presented based on decoupled natural orthogonal complement.In this model,the concepts and methods of decoupled natural orthogonal complement(DeNOC)matrices were used to eliminate the constraint forces in the Newton-Euler kinematic equations.Finally,a 7-DOF serial robot was simulated by,and the results were compared with those of the recursive Newton-Euler kinematic equations.Simulation results show that the proposed method based on decoupled natural orthogonal complement can save 2/3amount of CPU time that is spent in computing compared with the traditional approach,and the results is correct and reasonable,which can verify the reliability and efficiency of the method.
【Fund】: 国家自然科学基金资助项目(51375230);; 国家高技术研究发展计划(863计划)资助项目(2013AA041004);; 江苏省科技支撑计划资助重点项目(BE2013003-1;BE2013010-2)
【CateGory Index】: TP242
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