• CN：11-2187/TH
  • ISSN：0577-6686
机械工程学报

›› 1994, Vol. 30 ›› Issue (6): 86-92.

• 论文 • 上一篇    下一篇

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挠性机器人逆动力学显式模型

郭吉丰;许大中;李培玉;童忠钫   

  1. 浙江大学
  • 发布日期:1994-11-01

EXPLICIT EQUATION MODEL OF INVERSE DYNAMICS FOR FLEXIBLE ROBOTS

Guo Jifeng;Xu Dazhong;Li Peiyu;Tong Zhongfang   

  1. Zhejiang University
  • Published:1994-11-01

摘要： 提出了挠性机器人逆动力学问题的一般模型，并通过对其实施线性化，得到了线性解耦的由运动条件方程和动力条件方程联立的逆动力学基本方程。同时，利用逆动力学基本方程的特点给出了逆问题的显式模型，并将该法用于平面n杆弹性手臂建模。最后就三连杆弹性手臂进行了仿真，验证了本方法的有效性。

关键词: 仿真, 机器人, 挠性传动, 逆动力学

Abstract: A general model of inverse dynamic problems for flexible robot arms, is presented for the first time. Linear decoupled inverse dynamic equation combined with motion condition equations and dynamic condition equations are obtained through linearization of the model and then, by taking advantage of the characteristics of motion condition equations, the explicit equation model for elastic robot arms with planar n-links is got. Finally, the capabilities of this method is verified through simulation analysis of three-link elastic arms.

Key words: Flexible, Inverse dynamic, robot, Simulation

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