摘要
The rational fraction model for the regularized inverse dynamics of a flexible manipulator is presented, the effect of this model on alleviating the ill posed behavior of the calculated torque is demonstrated, and the implication of the regularization parameter selection on the trade off between the tracking accuracy and the frequency bandwidth of the calculated torque is addressed as well. The validity of the proposed method is illustrated by means of a computer numeric simulation.
The rational fraction model for the regularized inverse dynamics of a flexible manipulator is presented, the effect of this model on alleviating the ill-posed behavior of the calculated torque is demonstrated, and the implication of the regularization parameter selection on the trade-off between the tracking accuracy and the frequency bandwidth of the calculated torque is addressed as well. The validity of the proposed method is illustrated by means of a computer numeric simulation.
基金
ProjectsupportedbytheNationalNaturalScienceFoundationofChina (GrantNo .5 96 0 5 0 0 1)andGuangdongNaturalSci enceFoundation (GrantNo .970 379)
