Affiliations: [a] State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang City, China
| [b]
College of Information Science and Engineering, Northeastern University, Shenyang City, China
Correspondence:
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Corresponding author. Xing Li, State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang City 110819, China. Tel.: +86 18624058345; E-mail: lixing8245@163.com.
Note: [1] This work is supported by “Fundamental Research Funds for the Central Universities” (N150804001), 2015 Liaoning province Doctoral Fund (201501142) and National Natural Science Foundation of China (61503070).
Abstract: 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.
