柔性机械臂的两种逆动力学方法

Two Inverse Dynamic Methods of Flexible Manipulators

本文提出了柔性机械臂运动控制和振动抑制的两种有效的开环控制方法——两点边值逆动力学方法和轨迹规划逆动力学方法。两种逆动力学方法所设计的开环输入不仅可以实现柔性机械臂的点位运动或跟踪优化轨迹，而且同时显著降低或消除了结构柔性对其精确定位的影响。

Two valid inverse dynamic methods for controlling the motions and vibrations of flexible manipulators Two Point Boundary Value and Trajectory Programme inverse dynamic methods are proposed. The open loop inputs provided by the proposed methods can realize not only the point to point motion or trajectory tracking but also greatly reducing or eliminating the influence of the flexibility of the manipulator on the accurate positioning. The theoretical analyses are proved to be credible by the imitation and experimental results.