摘要
采用了 Timoshenko梁理论和有限元法 ,由 L agrange方程建立了基于绝对坐标的柔性机器人逆动力学模型。由提出的非线性方程数值解法 ,求解出柔性机器人的输入关节角或驱动力矩 ,以此作为输入参量 ,可使机器人能够非常准确地跟踪末端轨迹。文中就三柔性臂机器人进行了仿真 。
An approach is presented for the inverse dynamics of flexible link manipulators in absolute coordinates. The joint angles and torques can be determined to drive the flexible link manipulator to follow its given endpoint trajectory accurately. The Timoshenko beam theory and the finite element method is used to model the flexible link manipulator and an algorithm is proposed to solve the resulting nonlinear differential equations. The effectiveness of the new method is illustrated through the simulation of a 3R flexible link manipulator.
出处
《机械科学与技术》
CSCD
北大核心
2002年第1期10-12,15,共4页
Mechanical Science and Technology for Aerospace Engineering
基金
国家自然科学基金项目 (5 9975 0 0 1)
