摘要
通过对柔性机械臂动力学系统的零极点及其模态参量渐近行为的解析分析 ,讨论了模态截取和零点截取有限维近似模型动力学奇异性关于阶次的渐近行为 ,并进行了比较研究 .此外 。
Based on analytical analysis for the asymptotic expressions of the poles, zeros and modal parameters of a flexible manipulator, the asymptotic behavior of the dynamic singularity is discussed analytically for both zero truncated and modal truncated approximation models, and the comparison is carried out as well. An numerically comparative study for the inverse dynamics is made to illustrate the effects of high order terms of the truncated models on the ill posed behavior of the calculated torque.
出处
《自动化学报》
EI
CSCD
北大核心
2000年第3期324-331,共8页
Acta Automatica Sinica
基金
国家自然科学基金!( 5 9975 0 5 6 )
广东省自然科学基金!( 970 379)
关键词
柔性机械臂
动力学奇异性
逆动力学
Flexible manipulator, dynamic singularity, inverse dynamics.
