柔性机械臂逆动力学的病态渐近行为

基于对零极点渐近行为的解析分析，给出了柔性机械臂零点截取逆动力学增益关于零点截取阶次的渐近阶估计，定量地揭示了逆动力学存在的病态行为。通过计算机仿真，考察了Ｂａｎｇ－Ｂａｎｇ型加速度曲线激发逆动力学病态行为对计算力矩的影响。

Asymptotic Behavior of Ill Posed Inverse Dynamics for Flexible Manipulators

Based on analytical analysis for the asymptotic behavior of the poles as well as zeros, the asymptotic expressions of the gain of the inverse dynamics system are addressed analytically to reveal the ill posed behavior of the inverse dynamics for a single link flexible manipulator. Bang Bang profile is used as an end point acceleration, and the resultant effect from the ill posed inverse dynamics on the high frequency content of the calculated torque is clarified by means of computer simulations, which illustrates the validity of the results in this paper.