毛立军, 余跃庆. 基于模态的柔性机器人协调操作系统的动力学分析[J]. 机器人, 2003, 25(2): 97-100.
引用本文: 毛立军, 余跃庆. 基于模态的柔性机器人协调操作系统的动力学分析[J]. 机器人, 2003, 25(2): 97-100.
MAO Li-jun, YU Yue-qing. DYNAMIC ANALYSIS OF FLEXIBLE ROBOT COOPERATION SYSTEM BASED ON ASSUMED MODES[J]. ROBOT, 2003, 25(2): 97-100.
Citation: MAO Li-jun, YU Yue-qing. DYNAMIC ANALYSIS OF FLEXIBLE ROBOT COOPERATION SYSTEM BASED ON ASSUMED MODES[J]. ROBOT, 2003, 25(2): 97-100.

基于模态的柔性机器人协调操作系统的动力学分析

DYNAMIC ANALYSIS OF FLEXIBLE ROBOT COOPERATION SYSTEM BASED ON ASSUMED MODES

  • 摘要: 目前,对于柔性机器人协调操作动力学问题的研究已经取得了—定的研究成果,但是这些研究大多采用有限元法来建立动力学模型,很难将这种模型应用到实际的控制中,本文利用假设模态法和Lagrange方程,建立了柔性机器人协调操作系统的动力学方程,并给出平面两3R柔性机器人协调操作刚性负载完成目标运动规划任务的数值仿真算例,从而验证本方法的可行性和正确性.

     

    Abstract: In this paper, the system dynamic equations are developed by using assumed modes method and La-grange equation. A numerical example of two planar 3-R flexible robots manipulating a rigid body to realize the given kinematic planning task of the objective is illustrated successfully. The simulation results demonstrate the feasibility and effectiveness of the method.

     

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