A kind of Lagrange dynamic simplified modeling method for multi-DOF robot1

摘要

To solve the problem between large computation and complex process of dynamic modeling on multi-DOF(degree of freedom) robot, the paper introduces Lagrange equation into the problem so that only external force needs to be considered and unknown binding force is no longer to be considered, which is convenient for the design of control system and dynamic simulation. Also, the paper introduces Q matrix into traditional Lagrange dynamic equation of robot and linearizes the dynamic equation under reference frame. Finally, the paper proposes a Lagrange equation simplified calculation method for dynamic modeling on multi-DOF robots and gives the calculation equations. The paper takes five DOF Upper limb rehabilitation robot as example and model the robot using the new method. The simulation result shows that the established mathematical model is accurate and the method is fast, efficient and can be used as a new method for a class of multi-DOF robots modeling.