论文部分内容阅读
本书研究了模拟机器人、操作器和步行机器人的间断-连续可控系统的动力学和最优化问题的解决方法。其特点是用数学模拟来进行研究,并考虑到结构弹性,运用动力学反算方法的参数最佳化等的概念。也讨论了结构弹性对机器人系统运动特性影响。全书分三部分。1.步行机器人动力学和最优化(步
This book studies solutions to the dynamics and optimization problems of discontinuous-continuously controllable systems that simulate robots, operators, and walking robots. Its characteristic is to use mathematical simulation to study and take into account the concept of structural flexibility, the use of dynamic parameters of the inverse method of optimization and other concepts. The effect of structural elasticity on the motion characteristics of the robot system is also discussed. The book is divided into three parts. 1. Walking robot dynamics and optimization (step