| 柔性机械臂两点边值逆动力学方法——理论分析和实验结果 |
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| 引用本文： | 毕世华,黄文虎,邵成勋,费从宇.柔性机械臂两点边值逆动力学方法——理论分析和实验结果[J].力学学报,1997,29(3):373-379. |
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| 作者姓名： | 毕世华 黄文虎 邵成勋 费从宇 |
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| 作者单位： | 北京理工大学机电控制工程系 |
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| 基金项目： | 国家自然科学基金,西安交通大学结构强度与振动实验室开放研究基金,北京理工大学引进人才科研启动基金 |
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| 摘 要： | 基于最优控制模拟思想提出了柔性机械臂的两点边值逆动力学方法．应用柔性机械臂的两种动力学模型可实现机械臂的点 点位置运动或轨迹追踪，同时显著降低或消除了结构柔性对其精确定位的影响．数值仿真和实验结果同理论分析完全一致
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| 关 键 词： | 机器人 逆动力学 拟线性化 机械臂 |
TWO POINT BOUNDARY VALUE INVERSE DYNAMIC METHODS OF FLEXIBLE MANIPULATORS ——THEORETICAL ANALYSIS AND EXPERIMENTAL RESULTS |
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| Bi Shihua.TWO POINT BOUNDARY VALUE INVERSE DYNAMIC METHODS OF FLEXIBLE MANIPULATORS ——THEORETICAL ANALYSIS AND EXPERIMENTAL RESULTS[J].chinese journal of theoretical and applied mechanics,1997,29(3):373-379. |
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| Authors: | Bi Shihua |
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| Abstract: | Two point boundary value inverse dynamic methods of flexible manipulators based on optimal control theory are proposed in the present paper. The open loop inputs obtained by the proposed method can make the flexible manipulator accomplish the point to point motion or trajectory tracking while greatly reduce or eli min ate the influence of the flexibility on the accurate positioning. Numerical imitation and experimental results coincide with the theoretical analyses. |
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| Keywords: | inverse dynamics of robot nonlinear two point boundary value problem quasilinearization trajectory tracking |
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