| 一种新的柔性机械臂开环主动控制的逆动力学方法 |
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| 引用本文： | 费从宇,邵成勋.一种新的柔性机械臂开环主动控制的逆动力学方法[J].工程力学,1991,8(3):69-76. |
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| 作者姓名： | 费从宇 邵成勋 |
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| 作者单位： | 哈尔滨工业大学空间科学与技术系，哈尔滨工业大学空间科学与技术系，哈尔滨工业大学空间科学与技术系 |
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| 摘 要： | 本文提出了一种在时域上设计柔性机械臂开环控制力矩的逆动力学方法。该方法在实现铰点点位置运动的前提下,可以有效的抑制臂结构的弹性振动。
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| 关 键 词： | 逆动力学 柔性机械臂 振动抑制 开环力矩设计 |
A NEW INVERSE DYNAMICS METHOD FOR OPEN—LOOP ACTIVE CONTROL OF ONE—LINK FLEXIBLE MANIPULATOR |
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| Fei Congyu Shao Chengxun Huang Wenhu.A NEW INVERSE DYNAMICS METHOD FOR OPEN—LOOP ACTIVE CONTROL OF ONE—LINK FLEXIBLE MANIPULATOR[J].Engineering Mechanics,1991,8(3):69-76. |
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| Authors: | Fei Congyu Shao Chengxun Huang Wenhu |
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| Affiliation: | Dept. of Space Science & Technology Harbin Institute of Technology |
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| Abstract: | In this paper, the new inverse dynamics method, which designs the open—loop control torque for one—link flexible manipulator, is proposed. The approach not only realizes precisely the point—to—point position motion of joint but also supresses effectively the elastic vibration of arm. |
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| Keywords: | inverse dynamics flexible manipulator vibration control open—loop torque design |
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