| 基于绝对坐标的柔性机器人逆动力学建模和轨迹跟踪 |
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| 引用本文： | 张成新,余跃庆.基于绝对坐标的柔性机器人逆动力学建模和轨迹跟踪[J].机械科学与技术(西安),2002,21(1):10-12,15. |
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| 作者姓名： | 张成新 余跃庆 |
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| 作者单位： | 北京工业大学机电学院 北京100022
(张成新)，北京工业大学机电学院 北京100022(余跃庆) |
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| 基金项目： | 国家自然科学基金项目 (5 9975 0 0 1) |
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| 摘 要： | 采用了 Timoshenko梁理论和有限元法 ,由 L agrange方程建立了基于绝对坐标的柔性机器人逆动力学模型。由提出的非线性方程数值解法 ,求解出柔性机器人的输入关节角或驱动力矩 ,以此作为输入参量 ,可使机器人能够非常准确地跟踪末端轨迹。文中就三柔性臂机器人进行了仿真 ,验证了本方法的有效性
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| 关 键 词： | 柔性机器人 逆动力学 轨迹跟踪 |
| 文章编号： | 1003-8728(2002)01-0010-03 |
Inverse Dynamics Modeling and Trajectory Tracking of Flexible Manipulators in Absolute Coordinates |
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| ZHANG Cheng xin,YU Yue qing.Inverse Dynamics Modeling and Trajectory Tracking of Flexible Manipulators in Absolute Coordinates[J].Mechanical Science and Technology,2002,21(1):10-12,15. |
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| Authors: | ZHANG Cheng xin YU Yue qing |
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| Abstract: | An approach is presented for the inverse dynamics of flexible link manipulators in absolute coordinates. The joint angles and torques can be determined to drive the flexible link manipulator to follow its given endpoint trajectory accurately. The Timoshenko beam theory and the finite element method is used to model the flexible link manipulator and an algorithm is proposed to solve the resulting nonlinear differential equations. The effectiveness of the new method is illustrated through the simulation of a 3R flexible link manipulator. |
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| Keywords: | Flexible manipulator Inverse dynamics Trajectory tracking |
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