柔性机械臂动力学方程的精细时程积分法

孔向东, 钟万勰. 柔性机械臂动力学方程的精细时程积分法[J]. 机器人, 1998, 20(5): 378-381.

引用本文:

孔向东, 钟万勰. 柔性机械臂动力学方程的精细时程积分法[J]. 机器人, 1998, 20(5): 378-381.

KONG Xiangdong, ZHONG Wanxie. A PRECISE TIME INTEGRATION ALGORITHM FOR DYNAMIC EQUATIONS OF FLEXIBLE MANIPULATORS[J]. ROBOT, 1998, 20(5): 378-381.

Citation:

KONG Xiangdong, ZHONG Wanxie. A PRECISE TIME INTEGRATION ALGORITHM FOR DYNAMIC EQUATIONS OF FLEXIBLE MANIPULATORS[J]. ROBOT, 1998, 20(5): 378-381.

A PRECISE TIME INTEGRATION ALGORITHM FOR DYNAMIC EQUATIONS OF FLEXIBLE MANIPULATORS

摘要: 本文给出了精细时程积分法求解柔性机械臂动力学方程的方法．通过计算实例，并与Gil法比较，说明了该方法的有效性．

Abstract: A precise time integration algorithm is developed for solving the dynamic equation in flexible manipulators. A numerical example is given. Through comparing with Gill integration method, the efficiency of the precise integration algorithm is shown.

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