摘要
借助于adams动力学仿真工具,分析了一种新研制的七自由度仿人手臂的动力学问题,并以仿人手臂的自运动为例,求出了随动控制下的力矩响应。进而,利用三次样条插值的办法,得出了时间-力矩函数关系式,显然,这为力矩补偿前馈控制模式提供了数学模型。
With adams dynamics simulation software, this paper analyzes the dynamics problem of a newly made seven DOF anthropomorphic arm, and as a example with the anthropomorphic arm' self- motion, a torque response with follow- up control is given. Farther, time- torque function is derived by the method of cubic spline interpolation. Obviously, the torque compensation feedforword control pattern adopted is provided with mathematic model.
出处
《机械设计与制造》
2004年第2期33-35,共3页
Machinery Design & Manufacture
