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基于比例微分控制器的机器人位置控制研究
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作者 高国有 姜春生 +2 位作者 陈韬 回春 伍丽娜 《科学技术创新》 2019年第13期111-112,共2页
考察多关节机器人动力学方程的数学特性,采用李雅普诺夫函数方法对机器人位置控制问题进行研究,基于机器人动力学模型构造能量函数并使用不变集定理分析比例微分控制器的稳定性,通过对理论分析结果进行仿真,研究单位阶跃信号激励下控制... 考察多关节机器人动力学方程的数学特性,采用李雅普诺夫函数方法对机器人位置控制问题进行研究,基于机器人动力学模型构造能量函数并使用不变集定理分析比例微分控制器的稳定性,通过对理论分析结果进行仿真,研究单位阶跃信号激励下控制系统的动态特性。 展开更多
关键词 李雅普诺夫函数 机器人动力学方程 PD控制器 机器人位置控制
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Dynamic modeling and analysis of 3-■RS parallel manipulator with flexible links 被引量:7
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作者 刘善增 余跃庆 +2 位作者 朱真才 苏丽颖 刘庆波 《Journal of Central South University》 SCIE EI CAS 2010年第2期323-331,共9页
The dynamic modeling and solution of the 3-RRS spatial parallel manipulators with flexible links were investigated. Firstly, a new model of spatial flexible beam element was proposed, and the dynamic equations of elem... The dynamic modeling and solution of the 3-RRS spatial parallel manipulators with flexible links were investigated. Firstly, a new model of spatial flexible beam element was proposed, and the dynamic equations of elements and branches of the parallel manipulator were derived. Secondly, according to the kinematic coupling relationship between the moving platform and flexible links, the kinematic constraints of the flexible parallel manipulator were proposed. Thirdly, using the kinematic constraint equations and dynamic model of the moving platform, the overall system dynamic equations of the parallel manipulator were obtained by assembling the dynamic equations of branches. FtLrthermore, a few commonly used effective solutions of second-order differential equation system with variable coefficients were discussed. Newmark numerical method was used to solve the dynamic equations of the flexible parallel manipulator. Finally, the dynamic responses of the moving platform and driving torques of the 3-RRS parallel mechanism with flexible links were analyzed through numerical simulation. The results provide important information for analysis of dynamic performance, dynamics optimization design, dynamic simulation and control of the 3-RRS flexible parallel manipulator. 展开更多
关键词 flexible robot parallel manipulator dynamic analysis kineto-elastodynamics analysis driving torque
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Solution and Application about Conversion Tensor of Motion in Dynamic Modeling of 6-HTRT Parallel Robot
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作者 罗冰 陆念力 车仁炜 《Journal of Donghua University(English Edition)》 EI CAS 2009年第3期230-234,共5页
Equivalent integrated finite element method is a canonical and efficient modeling method in dynamic analysis of complex mechanism. The key of establishing dynamic equations of spatial mechanism by the method is to con... Equivalent integrated finite element method is a canonical and efficient modeling method in dynamic analysis of complex mechanism. The key of establishing dynamic equations of spatial mechanism by the method is to confirm Jacobian matrix reflecting relations of all joints,nodes,and generalized coordinates,namely,relations of second-order and corresponding third-order conversion tensors. For complex motion relations of components in a parallel robot,it gives second-order and third-order conversion tensors of dynamic equations for the 6-HTRT parallel robot based on equivalent integrated finite element method. The method is suitable for the typical robots whose positions of work space and sizes of mechanism are different. The solving course of the method is simple and convenient,so the method lays the foundation of dynamic analysis for robots. 展开更多
关键词 parallel robot dynamic model conversion tensor
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