| 考虑臂杆柔性的空间机器人逆动力学仿真研究 |
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| 引用本文： | 王树国,丁希仑,蔡鹤皋.考虑臂杆柔性的空间机器人逆动力学仿真研究[J].宇航学报,1998,19(2):43-47. |
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| 作者姓名： | 王树国 丁希仑 蔡鹤皋 |
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| 作者单位： | 哈尔滨工业大学机器人研究所,哈尔滨,150001 |
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| 摘 要： | 本文在考虑臂杆柔性的情况下，利用拉格朗日公式推导出空间机器人操作臂的动力学方程。基于所得到的非线性模型，在最优控制理论的基础上，用Ｔｒｅａｎｏｒ法结合打靶法研究了其动力学逆问题的解法及振动的有效控制问题，并以平面二臂杆空间机器人操作臂为例进行了逆动力学仿真的研究，仿真结果很好。
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| 关 键 词： | 逆动力学 柔性臂 仿真 |
SIMULATION STUDY ON INVERSE DYNAMICS OF THE SPACE ROBOT WITH FLEXIBLE LINKS |
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| Wang Shuguo,Ding Xilun,Cai Hegao.SIMULATION STUDY ON INVERSE DYNAMICS OF THE SPACE ROBOT WITH FLEXIBLE LINKS[J].Journal of Astronautics,1998,19(2):43-47. |
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| Authors: | Wang Shuguo Ding Xilun Cai Hegao |
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| Abstract: | In this paper,the dynamic model of the space robot arm is obtained by the formula of Lagrange,under the condition of the links with flexibility.On the base of the optimal theory,the problems of inverse dynamics and the vibration control of the arm are studied using the methods of Treanor and Shooting on the nonlinear model given above.And then the inverse dynamic method is simulated with a two link planar flexible robot arm as an example,the simulation results convinced the method is very good. |
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| Keywords: | Inverse dynamics Flexible arm Simulation |
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