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三自由度手臂动力学分析和Adams-matlab联合仿真模型

于 2022-02-25 发布 文件大小:18.21 MB
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代码说明:

建立了人机系统运动学和动力学模型。利用D-H法对上肢外骨骼简化模型进行正运动特性分析,推导出了末端位置和姿态信息,并在已知末端位置和姿态的条件下,推导出了运动学逆解,同时利用拉格朗日方程对人机下肢系统进行动力学建模,推导出了二连杆人机系统的动力学模型,为康复控制策略的研究奠定基础。

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