摘要
Recursiveformulationshavesignificantlyhelpedinachievingreal-timecomputationsandmodel-basedcontrollaws.Therecursivedynamicssimulator(ReDySim)isaMATLAB-basedrecursivesolverfordynamicanalysisofmultibodysystems.ReDySimdelvesuponthedecouplednaturalorthogonalcomplementapproachoriginallydevelopedforserial-chainmanipulators.Incomparisontothecommerciallyavailablesoftware,dynamicanalysesinReDySimcanbeperformedwithoutcreatingsolidmodel.TheinputparametersarespecifiedinMATLABenvironment.ReDySimhascapabilitytoincorporateanycontrolalgorithmwithutmostease.Inthiswork,thecapabilitiesofReDySimforsolvingopen-loopandclosed-loopsystemsareshownbyexamplesofroboticgripper,KUKAKR5industrialmanipulatorandfour-barmechanism.ReDySimcanbedownloadedforfreefromhttp://www.redysim.co.nrandcanbeusedalmostinstantly.
出版日期
2012年06月16日(中国期刊网平台首次上网日期,不代表论文的发表时间)