柔性机械臂正则化逆动力学的频域方法

A frequency approach to regularized inverse dynamics of flexible manipulators

末端加速度曲线中含有的高频成分会激励起柔性机械臂还动力学的病态行为，导致计算力矩局部饱和，限制了高速末端轨迹跟踪控制的实现．本文提出了一种抑制计算力矩病态行为的正则化逆动力学频域方法，建立了正则化因子在频域上的有理分式实现形式，并给出了数值仿真算例．

The high frequency contcnts contained in the acceleration profiles at the endpoint of a flexible manipulator can excite the ill-poscd behaviors of the inverse dynam-ics, which lead to the saturation of the calculated torque and limit the implementation ofthe trajcctory tracking of the high speed motion. In this paper, the frequency approachto the regularized invcrse dynamics in frequency domain is prcsented to inhibit the ill-posed behaviors of the calculatcd torque, with the rational fraction model of the regular-ization factor in the frequency domain given,and its validity illustrated by numerical sim-ulation.