Abstract：The flexible redundant robot has better capability than nonredundant robot. It is the tendency of new generation robot arm. By using the "self-motion" of redundant robot, we can not only restrain robot arm vibration resulted from the structure flexibility, but also optimalize the joint torque. However, it can not be valid without considering the joint limits. This artical gives a dynamic algorithm with considering the-limits. This method controls joint angles under the liminitions during optimalizing joint torque.The simulation result shows the success of the aiogrithm.
1 Alessandro De Luca.Dynamic Control of Robots with Joint Elasticity.IEEE Int Conf on R&A,1988,1(2):152～158 2 Readman M C,Belanger P R.Stabilization of the Fast Modes of a Flexible-joint Robot.Int J of Robotics Research,1992,11(2) 3 Chia-Hiang Meng,Jian-shian g Ch en.Dynamic Modeling and Payload-adaptive Control of a Flexible Manipulator.IEEE Int Conf on R&A,1988,1(2):488～493 4 Chapnik B V,Heppler G R,A plevich.Controling the Impact Response of a One-link Flexible Robots Arm.IEEE Trans on R&A,1993,9(3):346～351 5 Hu F L,Uisoy A G.Dynamic Modeling of Contrained Flexible Robot Arms for Controller Design.Trans of the ASME,1994,11(6) 6 You-Liang Gu.Dynamic and Control for Redundant Robots.IEEE Int Conf R&A,1988:194～198 7 Ping Hsu,Joh n Hauser,Shnkar Sasry.Dynamic Control of Redundant Manipul ators.IEEE Int Conf on R.&A,1988,1:183～187 8 Homayoun Seraji Configuration Control of Redundant Manipulators:Theory and Implementation.IEEE Trans on R& A,1989,5(4):472～490 9 Nguyen L A,Walker I D,D eFiguerirdo R J P.Dynamic Control of Flexible Kinematically Redundant Robot Manipulators.IEEE Trans on R&A,1992,8(5):759～767 10 何广平 陆 震.柔性冗余度机器人振动抑制的一种方法.机器人,1997,19(5)
