七自由度冗余混联机械臂的动力学分析
王泽胜,李研彪,罗怡沁,孙鹏,陈波,郑航
Dynamic analysis of a 7-DOF redundant and hybrid mechanical arm
Ze-sheng WANG,Yan-biao LI,Yi-qin LUO,Peng SUN,Bo CHEN,Hang ZHENG
表 1
拟人机械臂的惯量参数
Tab.1
Inertia parameters of humanoid arm
机构惯性参数
数值/（kg·m
2
）
I
s
diag [5.80,5.40,2.61]×10
−3
I
m
diag [8.34,7.80,0.572]×10
−4
I
e
diag [4.40,4.38,1.23]×10
−3
I
w
diag [4.81,2.43,2.43]×10
−4
I
a
diag [2.58,2.57,0.0556]×10
−4
I
b
diag [9.03,9.03,0.0348]×10
−5