摘要
本文针对空间柔性机械臂的非线性动力学模型，在最优控制理论的基础上，运用Ｇｉｌ法和打靶法相结合，得到大质量负载情况下柔性机械臂的最优驱动力矩．以单柔性机械臂为例进行了动力学仿真，仿真效果好。
In this paper, dealing with the nonlinear model of space flexible manipulator, based on the optimum theory, we obtained the controlling moment on flexible manipulator using Gill and shooting target methods. In the end, we simulated with the nonlinear model of single flexible manipulator as an example. The simulation results confirm that the method is correct and reliable.
出处
《机器人》
EI
CSCD
北大核心
1997年第2期102-104,共3页
Robot
关键词
柔性机械臂
逆动力学
仿真
机器人
Flexible manipulator, inverse dynamics, simulation
