AXIS-INVARIANT-BASED DYNAMICS MODELING AND SOLVING METHOD FOR MOVING-BASE MULTI-AXIS ROBOT

摘要

An axis-invariant-based dynamics modeling and solving method for a moving-base multi-axis robot. A Ju-Kane dynamics equation modeling and solving method for a moving-base rigid body system is provided. An explicit dynamics model of a multi-axis system is built concisely, conveniently and efficiently by applying a Ju-Kane dynamics principle, and the method is suitable for explicit dynamics modeling and numerical modeling of a multi-axis system having a high degree of freedom. By means of explicit dynamics modeling and computation, a contact action force between a system and an environment can be computed by means of motion detection and visual detection of the multi-axis system, thereby providing a new technical approach to force and position control of the multi-axis system and environmental perception.