# 使用路径装配的闭链机构模块化逆动力学与力旋量恢复

> 原文链接：https://robotics.hellobike.com/papers/2026-10-15-2610-21400
> 频道：papers | 更新日期：2026-10-15 | 标签：arxiv, cs.RO
> 核心摘要：针对闭链内反力不定问题，提出路径装配逆动力学与力旋量恢复流程，并在七自由度重载混联机械臂规定运动上验证。

# 使用路径装配的闭链机构模块化逆动力学与力旋量恢复

::: v-pre
> 原文链接：[Modular Inverse Dynamics and Wrench Recovery for Closed-Chain Mechanisms Using Path Assembly](https://arxiv.org/abs/2610.21400)（arXiv 2610.21400 · 发布日期：2026-10-15）

**Modular Inverse Dynamics and Wrench Recovery for Closed-Chain Mechanisms Using Path Assembly**

针对闭链内反力不定问题，提出路径装配逆动力学与力旋量恢复流程，并在七自由度重载混联机械臂规定运动上验证。

## 核心要点

- 刚性闭链即使运动完全给定，也可能存在不确定的内部反力。
- 方法结合基于路径的运动重建与物体-关节图上的空间Newton-Euler平衡。
- 空空间与对偶准则用于识别并恢复唯一的执行器和关节力旋量输出。
- 与Simscape Multibody对比，结果在被动位置、执行器作用和可恢复约束力旋量上接近参考。

**验证范围与局限**：验证限于常见刚体、理想关节假设下七自由度重载混联机械臂的规定运动。

## 英文摘要 (Abstract)

Rigid closed chains can admit indeterminate internal reactions even when their motion is fully specified. This paper develops a modular inverse-dynamics workflow that combines path-based motion reconstruction with recovery of uniquely determined actuator and joint-wrench outputs. Analytical second-order differentiation of assembled transformation paths supplies passive velocities and accelerations on a regular closure branch. Spatial Newton--Euler balances are then assembled over the physical body-and-joint graph. Established nullspace and dual criteria identify and recover unique outputs, while balance, ideal-joint admissibility and affine-family diagnostics assess nonunique reference reactions. Evaluation against Simscape Multibody uses prescribed motion of a seven-degree-of-freedom heavy-duty hybrid serial--parallel manipulator under common rigid-body, ideal-joint assumptions. The results show close agreement with the reference for passive positions, actuator efforts and uniquely recoverable constraint-wrench components. Reaction diagnostics support compatibility with the admissible numerical load family.

作者：Mohammad Dastranj, Jouni Mattila
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## 原始参考来源 (Sources)

- [arXiv 2610.21400：Modular Inverse Dynamics and Wrench Recovery for Closed-Chain Mechanisms Using Path Assembly](https://arxiv.org/abs/2610.21400)