双臂机器人协调动力学及其优化

通过引入“虚铰”概念，将双臂机器人协调动力学问题统一归结为约束多体系统的动力学问题。利用子系统牛顿－欧拉递推法获得的单臂机器人的动力学方程以及静力传递与速度传递间的对偶关系，很方便地导出了双臂机器人的动力学方程与回路约束方程，回路约束方程的建立无需增加额外的计算。此外，文中还对双臂机器人协调动力学的求解及其优化问题进行了讨论，最后以一搬运双臂机器人为例进行了动力学的计算机辅助优化，获得了令人满意的结果。文中所得结论对双臂机器人的设计与控制均具有一定的参考价值。

Dynamics and Optimization of Two-Arm Cooperating Robots

A unified method for computing the dynamics of two--arm cooperating robots is developed by introducing the concept of " virtual joints". The dynamic equations of two-armrobots can be easily obtained from that of single-arm manipulators constructed by the subsystem Newton--Euler recursive method. The constrained equations are derived according to theduality between force/moment transfer matrix and linear/angular velocity transfer matrix andno additional computations are needed. Besides,the solution and the computer--aided optimiza tion of cooperating dynamics of two-arm robots are discussed and illustrated using an exampleof a planar two-arm robot.