带有滑移-转动铰的单柔性机械臂逆动力学

INVERSE DYNAMICS OF A SINGLE-LINK FLEXIBLE MANIPULATOR WITH BOTH PRISMATIC AND ROTARY JOINTS

本文提出了一种柔性机械臂的低振动的逆动力学方法。首先应用时变模态展开方法对带有滑移-转动铰的平面单柔性机械臂建模。然后分别基于一般的非线性模型和对给定运动的扰动模型,应用最优控制模拟的思想确定最优低振动输入力矩。为求解所遇到的非线性时变两点边值问题,本文提出了模型递推算法作为对拟线性化方法的改进,并采用时变加权矩阵,所求得的输入力矩具有较好的鲁棒性。

A new method of inverse dynamics for a flexible manipulator is proposed. The timevariant mode expansion method is adopted to modelling the manipulator. In the method the optimal low vibration input toque is obtained forom the idea of optimal control simulation both for the cases of the ordinary and for the perturbation nonlinear models In order to solve the nonlinear time-variant two-point boundary-value problem, the quasilinearization method has been modified and a time-variant weighting matrix is introduced. The robustness of the resultant input torque for the open-loop control of the system is examined. Numerical examples show that the proposed method is valid.