摘要
建立漂浮多体机构系统动量和动量矩守恒方程 ,运用 Jourdain原理列写带 L agrange乘子的动力学方程。对漂浮多体系统给定末端构件设计轨迹 ,采用奇异稳定逆控制算法求出各铰相对转角变化曲线 ,进而求出内力矩控制规律。
The angular momentum equation of a free floating open loop mechanism is formulated, and the dynamical equations are derived by using Jourdain Principle and Lagrangian multiplier. The control regulation and the relative angular curves are obtained by using a singularity robust inverse control algorithm for the end effector′s trajectories. The numeric examples are presented also.
出处
《机械科学与技术》
CSCD
北大核心
2002年第1期47-49,共3页
Mechanical Science and Technology for Aerospace Engineering
