力反馈比例控制FRM的建模研究

Study on modelling of the FRM force feedback proportion control system

根据刚体机械手（ＲＭ）和柔性机械手（ＦＲＭ）运动的不同特性，分析了ＦＲＭ动力学系统的内在机理，进一步建立了单臂ＦＲＭ力反馈比例控制系统的空间离散化模型。

On the basis of the different dynamic characteristics of RM (Rigid Manipulator) and FRM (Flexible Robotic Manipulator), the principle of the FRM dynamic system is analyzed. Furthermore, a discrete model of the one link FRM force feedback proportion control system is built.