柔性机械臂的广义确定性动力学模型

Study on the Generalized Deterministic Dynamic Model of a Flexible Arm

基于凯恩方程,考虑柔性体变形的几何非线性,对动力学模型的非线性项保留至适当阶段进行线性化;同时,考虑几何和物理参数的随机特性,提出计及动力刚化的视觉控制柔性臂广义确定性动力学模型,并采用蒙特卡罗方法,对其进行了仿真分析.仿真结果说明了理论方法的正确性和有效性.

Based on Kane′s equations, a generalized deterministic dynamic model, valid for arbitrary structures, is introduced in this paper. In the model, the flexible bodies are described as nonlinear motion. Nonlinear terms have been retained to certain phase and linearized to form linear dynamic equations. At the same time the uncertainty characteristic of different dynamic parameters is considered. As an example, by using Monte Carlo method, the single vision based controlled flexible arm has been analyzed, and the numerical results show the effectiveness of this method.