401 弾性変形を考慮したロボットアームの動力学 : D-H記法にもとづく一般的な形式での定式化(マルチボディI)

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We formulate a general equation of motion of a serial-link robot arm based on the D-H parameter, which takes account of elastic deformation. A kinematic relation taking account of link deformation is introduced. Strain, potential and kinetic energies are formulated based on the positions and orientations of the link, that is, the variables which represent the configuration of the robot arm in the global coordinate. On the basis of the formulated energies, two types of Lagrangian equation of motion are formulated in this study ; that is, the one which is solely based on the global variables corresponding to the robot arm configuration and implicitly takes account of the constraints due to the kinemtaic relation, and the other which is based on the articulation variables and explicitly takes account of the constraints.
2001-08-03