摘要
基于最优控制模拟思想提出了柔性机械臂的两点边值逆动力学方法．应用柔性机械臂的两种动力学模型可实现机械臂的点点位置运动或轨迹追踪，同时显著降低或消除了结构柔性对其精确定位的影响．
Two point boundary value inverse dynamic methods of flexible manipulators based on optimal control theory are proposed in the present paper. The open loop inputs obtained by the proposed method can make the flexible manipulator accomplish the point to point motion or trajectory tracking while greatly reduce or eli min ate the influence of the flexibility on the accurate positioning. Numerical imitation and experimental results coincide with the theoretical analyses.
出处
《力学学报》
EI
CSCD
北大核心
1997年第3期373-379,共7页
Chinese Journal of Theoretical and Applied Mechanics
基金
国家自然科学基金
西安交通大学结构强度与振动实验室开放研究基金
北京理工大学引进人才科研启动基金
关键词
机器人
逆动力学
拟线性化
机械臂
inverse dynamics of robot, nonlinear two point boundary value problem, quasilinearization, trajectory tracking
