旋量法在机器人动力学分析中的应用

本文用旋量方法研究机器人的动力学模型，将速度和角速度，力和力矩的内在联系有机地融合为一体，使Ｎｅｗｔｏｎ－Ｅｕｌｅｒ方法更加简明有效率．文中相对于机器人各臂质心建立参考系，使惯性张量和质心加速度计算简化，进一步减少计算量，达到快速实时计算．

Application of Spinor Method to the Dynamic Analysis of Robot

A mothod known as spinor method is applied to the study of dynamic model of robot.It merges yelocity and angular velocity,force and moments into an organic whole by their internal relation;and makes Newton-Euler method more concise and efficient.A reference system is formed with respect to the mass center of the arms of robot,which simplifies the calculation of inertial tensor and mass center acceleration,and further reduces work load in calculation,and thus ensures a fast real-tline calcuiation.