EXPLICIT EQUATION MODEL OF INVERSE DYNAMICS FOR FLEXIBLE ROBOTS

Abstract

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

Guo Jifeng;Xu Dazhong;Li Peiyu;Tong Zhongfang. EXPLICIT EQUATION MODEL OF INVERSE DYNAMICS FOR FLEXIBLE ROBOTS[J]. , 1994, 30(6): 86-92.

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EXPLICIT EQUATION MODEL OF INVERSE DYNAMICS FOR FLEXIBLE ROBOTS

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