Title:
AXIS-INVARIANT-BASED DYNAMICS MODELING AND SOLVING METHOD FOR MOVING-BASE MULTI-AXIS ROBOT
Document Type and Number:
WIPO Patent Application WO/2020/034401
Kind Code:
A1
Abstract:
An axis-invariant-based dynamics modeling and solving method for a moving-base multi-axis robot. A Ju-Kane dynamics equation modeling and solving method for a moving-base rigid body system is provided. An explicit dynamics model of a multi-axis system is built concisely, conveniently and efficiently by applying a Ju-Kane dynamics principle, and the method is suitable for explicit dynamics modeling and numerical modeling of a multi-axis system having a high degree of freedom. By means of explicit dynamics modeling and computation, a contact action force between a system and an environment can be computed by means of motion detection and visual detection of the multi-axis system, thereby providing a new technical approach to force and position control of the multi-axis system and environmental perception.
Inventors:
JU HEHUA (CN)
Application Number:
PCT/CN2018/112616
Publication Date:
February 20, 2020
Filing Date:
October 30, 2018
Export Citation:
Assignee:
JU HEHUA (CN)
International Classes:
G05B13/04
Foreign References:
| CN107953324A | 2018-04-24 | |||
| CN106547989A | 2017-03-29 | |||
| CN106249616A | 2016-12-21 |
Other References:
PENG. LIYUAN ET AL.: "Dynamics Modeling and Simulation of Lunar Rover on Rough Terrain", JOURNAL OF SYSTEMS SCIENCE AND MATHEMATICAL SCIENCES, vol. 31, no. 06, 30 June 2011 (2011-06-30), pages 742 - 750
ZHANG. KEWEI ET AL.: "Self-adaptive Method of Selecting Natural Coordinates in Kinetic Simulation of Multibody Systems", CHINA MECHANICAL ENGINEERING, vol. 22, no. 18, 30 September 2011 (2011-09-30), pages 2143 - 2147
XU. XIANGRONG ET AL.: "A Further Study on Kane's Equation Approach of Robots Dynamics", JOURNAL OF EAST CHINA UNIVERSITY OF METALLURGY, vol. 7, no. 2, 31 December 1990 (1990-12-31), pages 16 - 26
NUKULWUTHIOPAS, W.: "Dynamic Modeling of a One-wheel Robot by Using Kane's method", 2002 IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY, 31 December 2002 (2002-12-31), pages 524 - 529, XP010637362
ZHANG. KEWEI ET AL.: "Self-adaptive Method of Selecting Natural Coordinates in Kinetic Simulation of Multibody Systems", CHINA MECHANICAL ENGINEERING, vol. 22, no. 18, 30 September 2011 (2011-09-30), pages 2143 - 2147
XU. XIANGRONG ET AL.: "A Further Study on Kane's Equation Approach of Robots Dynamics", JOURNAL OF EAST CHINA UNIVERSITY OF METALLURGY, vol. 7, no. 2, 31 December 1990 (1990-12-31), pages 16 - 26
NUKULWUTHIOPAS, W.: "Dynamic Modeling of a One-wheel Robot by Using Kane's method", 2002 IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY, 31 December 2002 (2002-12-31), pages 524 - 529, XP010637362
Attorney, Agent or Firm:
JIANGSU FD YONGHENG LAW FIRM (CN)
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