柔性机械臂逆动力学问题的分析和求解

The Analysis and Solution for Inverse Dynamic Problems of Flexible Arms

柔性臂系统的逆动力学问题,是指在已知期望末端操作器运动轨迹的情况下,结合逆运动学与动力学方程对关节力矩进行求解。本文采用割线坐标系对机械臂的运动进行了描述,并分快变(振动)和慢变两方面进行逆动力学问题的分析与求解。在对快变部分逆动力学性质的分析中发现,快变部分精确的逆动力学解是发散的。在进行柔性机械臂逆动力学求解时,应在慢变的意义上进行。文中给出了一种去掉系统快变部分的简单方法,并进行了逆动力学求解。数值仿真结果表明,该处理方法是合理的。

The paper concentrates on the analysis and solution for inverse problems of flexible arms.The secant coordinate system is introduced to describe the location of the two-link arm.The fast（vibration） part and the slow part are analyzed for the inverse problems.The solutions for the fast part are found emanative through the analysis.So,the solution for the flexible arms should be carried out while only the slow part is included.A sample method is given to get rid of the fast part and get the solutions for the inverse problems.Numerical results show that this method is correct.