徐晨, 甘小冰. 柔性操作器动力学的数值方法[J]. 机器人, 1992, 14(1): 52-58.
引用本文: 徐晨, 甘小冰. 柔性操作器动力学的数值方法[J]. 机器人, 1992, 14(1): 52-58.
XU Chen, GAN Xiaobing. NUMERICAL METHOD FOR FLEXIBLE MANIPULATOR DYNAMICS[J]. ROBOT, 1992, 14(1): 52-58.
Citation: XU Chen, GAN Xiaobing. NUMERICAL METHOD FOR FLEXIBLE MANIPULATOR DYNAMICS[J]. ROBOT, 1992, 14(1): 52-58.

柔性操作器动力学的数值方法

NUMERICAL METHOD FOR FLEXIBLE MANIPULATOR DYNAMICS

  • 摘要: 本文根据Galerkin有限单元法及Newton-Euler方程导出的柔性操作器动力学空间离散化方程.分析了力反馈比例控制单臂柔性操作器系统.

     

    Abstract: Using discretization eqnations of dynamic space of flexible manipulator derived from Galerkin finiteclement method and Newton-Euler equations,the force feedback ratio control of single-tink flexiblemanipulatior system is analysed.

     

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