漂浮载体弹性机械臂动力学控制

Dynamics and Control of Free floating Flexible Manipulator

导出了漂浮载体弹性机械臂系统约束方程和动力学方程，利用逐次近似法讨论了机械臂结构弹性对负载位姿的影响．提出消除弹性影响的控制方法。

The dynamic equations and constraint equations of a free floating flexible manipulator are derived.The influence of defletion of the manipulator on payload position and attitude is discussed.A control strategy to eliminate the influence of flexibility is proposed by use of the iteration method,and a numerical example is given.