王树国, 丁希仑, 蔡鹤皋. 空间柔性机械臂的逆动力学仿真[J]. 机器人, 1997, 19(2): 102-104.
引用本文: 王树国, 丁希仑, 蔡鹤皋. 空间柔性机械臂的逆动力学仿真[J]. 机器人, 1997, 19(2): 102-104.
WANG Shuguo, DING Xilun, CAI Hegao. THE INVERSE DYNAMIC SIMULATION OF SPACE FLEXIBLE MANIPULATOR[J]. ROBOT, 1997, 19(2): 102-104.
Citation: WANG Shuguo, DING Xilun, CAI Hegao. THE INVERSE DYNAMIC SIMULATION OF SPACE FLEXIBLE MANIPULATOR[J]. ROBOT, 1997, 19(2): 102-104.

空间柔性机械臂的逆动力学仿真

THE INVERSE DYNAMIC SIMULATION OF SPACE FLEXIBLE MANIPULATOR

  • 摘要: 本文针对空间柔性机械臂的非线性动力学模型,在最优控制理论的基础上,运用Gil法和打靶法相结合,得到大质量负载情况下柔性机械臂的最优驱动力矩.以单柔性机械臂为例进行了动力学仿真,仿真效果好,结果证明方法正确可靠.

     

    Abstract: In this paper, dealing with the nonlinear model of space flexible manipulator, based on the optimum theory, we obtained the controlling moment on flexible manipulator using Gill and shooting target methods. In the end, we simulated with the nonlinear model of single flexible manipulator as an example. The simulation results confirm that the method is correct and reliable.

     

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