柔性机械臂逆动力学的轨迹追踪方法

TRAJECTORY TRACKING FOR INVERSE DYNAMICS OF A FLEXIBLE MANIPULATOR

本文提出了一种柔性机械臂低振动开环输入力矩的轨迹跟踪设计方法。用模态展开方法建模,对沿给定优化轨迹的扰动方程进行最优控制模拟,提出了模型递推的改进的拟线性化方法以求解产生的非线性两点边值问题,数值仿真结果和分析结果是一致的。

A torque design method by trajectory tracking is proposec to reduce the vibration magnitude of a fexible manipulator greatly. Midal expansion Method is adopted to model the manipulator and the Open—loop input torque is designed by Vvrtue of the meghodology of the close—Loop optimal Control Simulation on the perturbation model about the given trajectory. Using the standard modified quase—lineatrization method, a model replacing process is proposed to solve the resulting nonlinear two—point boundary—value problems. the simulation results are concordant with the analysis.