| 柔性机器人协调操作的动力学建模和轨迹跟踪 |
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| 引用本文： | 张成新,余跃庆.柔性机器人协调操作的动力学建模和轨迹跟踪[J].机械科学与技术(西安),2003,22(2):199-202. |
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| 作者姓名： | 张成新 余跃庆 |
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| 作者单位： | [1]北京工业大学机电学院，北京 [2]100022 |
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| 基金项目： | 国家自然科学基金 (5 9975 0 0 1)，北京市自然科学基金(30 12 0 0 3)项目资助 |
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| 摘 要： | 首次基于绝对坐标 ,建立了具有柔性关节和柔性臂的机器人协调操作刚性负载的动力学模型。由此推导出了协调操作的正动力学模型。由提出的载荷分配方法 ,以被操作物体质心的实际位置而不是名义刚性位置跟踪期望轨迹 ,建立了柔性机器人协调操作的逆动力学模型。此方法可使机器人非常准确地实现期望轨迹。文中就两个具有柔性关节和柔性臂的机器人协调操作刚性负载为例 ,验证了本方法的有效性
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| 关 键 词： | 柔性机器人 协调操作 动力学建模 轨迹跟踪 |
| 文章编号： | 1003-8728(2003)02-0199-04 |
| 修稿时间： | 2001年4月27日 |
Dynamic Modeling and Trajectory Tracking of Cooperating Robots with Flexible-Link and Flexible-Joint |
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| ZHANG Cheng xin,YU Yue qing.Dynamic Modeling and Trajectory Tracking of Cooperating Robots with Flexible-Link and Flexible-Joint[J].Mechanical Science and Technology,2003,22(2):199-202. |
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| Authors: | ZHANG Cheng xin YU Yue qing |
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| Abstract: | An approach is presented for the dynamic modeling and trajectory tracking of cooperating robots with flexible link and flexible joint in absolute coordinates for the first time. First, the forward dynamic model is developed. Then, assume the anticipated trajectory to be the dynamic model's bounding constraint and based on the proposed force distribution method, the inverse dynamic model is developed. With the inverse dynamic model, the operated object can track its given trajectory accurately. The effectiveness of the method is demonstrated through simulation of two flexible link and flexible joint 3R robots manipulating a rigid load. |
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| Keywords: | Flexible robot Dynamic model Inverse dynamics Cooperation Trajectory tracking |
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