摘要
对目前应用的柔性机械臂动力学方程进行了分析研究，揭示了采用传统动力学建模方法建立的动力学方程中存在的问题。研究了动力刚化对柔性机械臂减振控制的影响，系统地论述了柔性机械臂动力学模型与减振控制策略的关系，为进一步实现柔性机械臂减振控制提供理论基础。
Dynamic equations of a flexible manipulator used at present are analyzed, which reveals some defaults of the traditional modeling method. Effects of dynamic stiffening on vibration control of the manipulator are studied and the relationships between dynamic models and vibration control strategies of the manipulator are discussed in detail, which provides the theoretical basis for vibration suppression of the manipulator.
出处
《导弹与航天运载技术》
1998年第3期11-18,共8页
Missiles and Space Vehicles
基金
中国航天工业总公司博士后科学基金
国家863高技术项目基金
