本文给出了一种相对于机器人各臂坐标系,计算 Lagrange-Euler 形式的机器人动力学方程快速实时方法。在计算上,这种新方法比文献〔1〕～〔3〕中的方法更有效,计算量更小。对于一个六自由度的机器人,它的计算量至多为893个乘法与719个加法。尽管在理论上这种方法的计算量比 Newton-Euler 方法的计算量(852个乘法与738个加法)约多40个乘法,伹实际程序运行时间比 Newton-Euler 方法短。 In this paper, a fast and real-time method for computing the dynamic equations of the robot in terms of Lagrange-Euler form with respect to each arm’s coordinate system of the robot is given. In terms of computation, this new method is more efficient and less computationally intensive than the methods in [1] ~ [3]. For a six-degree-of-freedom robot, it calculates up to 893 multiplications and 719 additions. Although theoretically this method is computationally more about 40 multiplications than Newton-Euler’s method (852 multiplications and 738 additions), the actual program runs faster than the Newton-Euler method.