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生命科學與技術
來源: | 作者: | 發布時間:2013-9-22 14:20:56
開環機器人運動優化的仿真研究

劉芳華 李盈

(江蘇科技大學)

中文摘要:本文基于遞推多體動力學的李群表示方法,提出了使用混合編程和句柄圖形來設計機器人仿真軟件的思想。進一步地,在VisualC++6.0編譯環境下,調用MATLAB函數庫開發了三維可視化的開環機器人仿真軟件。此軟件能夠實現欠驅動系統、機器人、步行機械等復雜系統建模和運動優化,且可以完全獨立于MATLAB運行,靈活性強?蓪η夫寗酉到y和人類運動系統進行運動優化,具有良好的應用價值。
關鍵字:欠驅動系統; 李群; 混合編程; 句柄圖形; 運動優化

作者簡介:劉芳華(1972-),女(漢族),山東煙臺人,江蘇科技大學機械工程學院,副教授,主要研究領域為機器人與多體動力學理論與應用、機電控制及自動化等

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