郭吉丰, 童忠钫. 挠性机器人逆动力学建模[J]. 机器人, 1991, 13(2): 1-9.
引用本文: 郭吉丰, 童忠钫. 挠性机器人逆动力学建模[J]. 机器人, 1991, 13(2): 1-9.
GUO Jifeng, TONG Zhongfang. INVERSE DYNAMIC MODELLING OF FLEXIBLE ROBOT ARMS[J]. ROBOT, 1991, 13(2): 1-9.
Citation: GUO Jifeng, TONG Zhongfang. INVERSE DYNAMIC MODELLING OF FLEXIBLE ROBOT ARMS[J]. ROBOT, 1991, 13(2): 1-9.

挠性机器人逆动力学建模

INVERSE DYNAMIC MODELLING OF FLEXIBLE ROBOT ARMS

  • 摘要: 本文首次提出了挠性机器人逆动力学问题的精确数学模型,并通过对其线性化,形成线性解耦的由运动约束方程和动力约束方程联立的数学模型,并就平面n连杆手臂建立了逆动力学基本方程式.最后.就3连杆手臂进行了仿真,验证了本方法.

     

    Abstract: This paper presents for the first time an exact mathematical model of inverse dynamics relations of flexible robot arms. This model is further modified by linearization. Herefrom we get a set of inverse dynamic basic equations of planar n linkage arm. Our method and related theory have been verified by simulation of a 3 linkage arm.

     

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