摘要
本文以双柔性机械臂为例 ,采用近似方法和驱动约束方法对其进行逆动力学求解 ,并通过动力学仿真 ,对两种方法进行比较 .
Two flexible manipulators is instanced in this paper,inverse dynamics is researched using approximate method and driving constraint method,and two methods are compared by dynamics simulation.
出处
《吉林建筑工程学院学报》
CAS
2001年第4期64-68,共5页
Journal of Jilin Architectural and Civil Engineering
关键词
双柔性机械臂
逆动力学
仿真
two flexible manipulators,inverse dynamics,simulation
