CAJ | 학술논문

结合排爆机器人的研制，针对安装于排爆机器人移动平台上的五自由度操作臂实际结构，首先测算出操作臂的惯性参数，并由此建立动力学模型，推导出拉格朗日动力学方程和参数；然后模拟排爆抓取任务，规划了操作臂各关节三段式五阶多项式运动规律，由动力学方程仿真求得各关节电机的力矩变化规律，并结合电机性能参数验证了运动规划的合理性。
결합배폭궤기인적연제，침대안장우배폭궤기인이동평태상적오자유도조작비실제결구，수선측산출조작비적관성삼수，병유차건립동역학모형，추도출랍격랑일동역학방정화삼수；연후모의배폭조취임무，규화료조작비각관절삼단식오계다항식운동규률，유동역학방정방진구득각관절전궤적력구변화규률，병결합전궤성능삼수험증료운동규화적합이성。
Based on the development of explosive disposal robot and the real structure of five -degree of freedom manipulator assembled on the mobile platform , it measures and calculates the inertial parameters of the manipu-lator, establishes the dynamic model and Lagrange dynamic equation .Based on the simulation of the grasping mission, it plans the five order polynomial motion laws for the five joints , and illustrates the torques of each joint through dynamic equation .Combined with performance parameters of motors , it demonstrates the rationality of motion laws.