Robot Dynamics Modeling and Simulation Based on Kane

摘要

The aim of studying to the robot is various. The important applications of the robot dynamics model is designing robot be-cause the dynamics can been used to accurately calculate the need moment of achieve designed motivation. Using method of Kane derivates the dynamics equation of the six-freedom jointed-arm robot can reduce the steps of calculation and increase calculating ef-ficiency. Through the simulating of derivate dynamics equation, the reason of the third arm of using robot on site can be found out. So it can be replaced the frondose parameter in robot’s designing, track programming, dynamics optimizing and real-time controlling. by use and simulate. Also it can analyzing the robot’s dynamics capability and has universality.