挠性双摆动力学仿真和空间挠性机械手控制

The Dynamics Simulation of a Flexible Double Pendulum and the Control for the Flexible Manipulator on Space

本文对普通工业挠性机械手特例挠性双摆进行了动力学仿真,其结果和PBUsoro的工作完全吻合,本文对空间挠性机械手典型工况进行了正弦加载方式的开环控制,实现了到达指定位置时机械手端点负载的速度以及机械臂转动角速度为零的工作要求。

A numerical simulation and analysis of dynamics has been performed to the flexible double pendulum, which is a sepecial example of flexible manipulator used in. industry.The simulation re'sults obtained in this paper are no difference with the results obtained by P B Usoro.A kind of open loop control for sine way of diving torque has been performed to one typical work case of the manipulator on space , and the requir-ment that the speed of manipulator tip and rotational angular are zero when the manipulator arrives at a given placement has been achieved basically.