摘要
本文首先综述了近年来在柔性机器人动力学建模方面所取得的进展，着重介绍了目前较常用的几种建模方法和模型，同时对柔性机器人的控制问题进行了评述，指出了今后研究的方向．
In this paper, the recent advances in dynamic modeling of flexible-link robotic manipulators are surveyed, and several generally-used modeling techniques and dynamic models are discussed. Meanwhile, the control strategies and methods of flexible robotic manipulators with flexible links are evaluated, and development trends in the study of dynamic modeling and control of flexible robots are finally pointed out.
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
1997年第3期318-329,共12页
Control Theory & Applications
基金
国家自然科学基金
广东省自然科学基金
香港理工大学研究基金
关键词
柔性机器人
动力学建模
控制
flexble-link robotic manipulators
dynamic modeling
control
Lagrange equation
Hamilton's principle
finite-element method
singular perturbation
feedback linearization
fuzzy control
