机器人动力学无源性质证明

命题

机器人动力学相关的很多论文都使用了所谓的无源性质，既以下两个等价命题

• $\dot{M}-2C\in {\mathbb{R}}^{n\times n}$是一个反对称矩阵
• $\dot{M}=C+C^T$

证明

$C$是科里奥利矩阵，有
$$\begin{gathered} c_{ij}=\sum _{k=1}^n{\Gamma }_{ijk}\left(\theta \right){\dot{\theta }}_k \\ {\Gamma }_{ijk}\left(\theta \right)=\frac{1}{2}\left(\frac{\partial m_{ij}}{\partial {\theta }_k}+\frac{\partial m_{ik}}{\partial {\theta }_j}-\frac{\partial m_{jk}}{\partial {\theta }_i}\right) \end{gathered}$$
所以$\dot{M}-2C$的第(i,j)项为
$$\begin{array}{rl}{\dot{m}}_{ij}-2c_{ij}& =\sum _{k=1}^n\frac{\partial m_{ij}}{\partial {\theta }_k}{\dot{\theta }}_k-\frac{\partial m_{ij}}{\partial {\theta }_k}{\dot{\theta }}_k-\frac{\partial m_{ik}}{\partial {\theta }_j}{\dot{\theta }}_k+\frac{\partial m_{jk}}{\partial {\theta }_i}{\dot{\theta }}_k\\ & =\sum _{k=1}^n\frac{\partial m_{jk}}{\partial {\theta }_i}{\dot{\theta }}_k-\frac{\partial m_{ik}}{\partial {\theta }_j}{\dot{\theta }}_k\end{array}$$
通过交换下标可知
$${\dot{m}}_{ij}-2c_{ij}=-\left({\dot{m}}_{ji}-2c_{ji}\right)$$
既
$$\dot{M}-2C=-{\left(\dot{M}-2C\right)}^T$$
再有
$$\dot{M}+{\dot{M}}^T=2C+2C^T$$
因为$M$是对称矩阵，因此有$$\dot{M}=C+C^T$$