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并联机器人拉格朗日方法动力学求解位置

于 2023-01-20 发布 文件大小:2.01 kB
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采用拉格朗日法对并联机器人进行动力学建模,用4阶龙格-库塔方法对并联机器人的位置,姿态进行仿真。得到12张图像,分别为速度图:x轴速度,y轴速度,z轴速度,alpha角速度,beta角速度,gamma角速度。位置图:x轴位置,y轴位置,z轴位置,alpha角度,beta角度,gamma角度。采用PD控制率,机器人初始值和控制矩阵参数在仿真程序中。

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