ON THE DYNAMIC MODELING OF TWO FLEXIBLE MANIPULATOR COOPERATION AND ITS INVERSE DYNAMIC ANALYSIS
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摘要: 柔性机器人动力学是当前机器人研究的热点，而其协调操作问题目前仍为空白．本文首次建立了柔性机器人协调操作刚性负载的动力学模型，利用有限元法和Lagrange方程，在柔性机器人协调操作的运动学和动力学协调约束条件基础上，推导出系统的动力学方程，提出了其逆动力学问题的解决方案，并成功给出了平面两3R柔性臂协调操作的数值算例．Abstract: The flexible manipulator dynamics is a topic of general interest in robotics, but the study on its cooperation is still in vacuum at present. Based on the kinematic and dynamic coordinated constraints, the dynamic model of flexible manipulator cooperation is obtained for the first time by using Finite Element Method and Lagrange Equation. The algorithm of its inverse dynamic problem is proposed and a numerical example of two planar 3-R flexible robots manipulating a rigid load is illustrated successfully.
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Keywords:
- Flexible manipulator /
- cooperation /
- dynamic model
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