| 具有关节柔性和臂柔性的机器人操作受限物体的动力学建模 |
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| 引用本文： | 张成新,余跃庆.具有关节柔性和臂柔性的机器人操作受限物体的动力学建模[J].机械工程学报,2003,39(6):9-12. |
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| 作者姓名： | 张成新 余跃庆 |
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| 作者单位： | 北京工业大学机械工程与应用电子技术学院,北京,100022 |
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| 基金项目： | 国家自然科学基金(59975001)，北京市自然科学基金(3012003)资助项目 |
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| 摘 要： | 针对具有柔性关节和柔性臂的机器人操作受作业环境约束这种情况,基于绝对坐标建立了系统的动力学模型。根据物体与作业环境的约束关系,推导出系统的正动力学模型。以期望的被操作物体的轨迹和所期望的物体与环境的作用力为边界条件,推导出了系统的逆动力学模型。对于给定的任务,所提出的逆动力学模型可求出柔性机器人的理想输入。而所提出的正动力学模型可用于数值仿真。通过对具有三柔性关节和三柔性臂的机器人臂进行仿真,验证了该方法的有效性。
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| 关 键 词： | 柔性机器人 动力学建模 受限运动 轨迹跟踪 |
| 修稿时间： | 2001年12月1日 |
DYNAMIC MODELING OF ROBOT ARM WITH JOINT AND LINK FLEXIBILITY MANIPULATING A CONSTRAINED OBJECT |
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| Zhang Chengxin Yu Yueqing.DYNAMIC MODELING OF ROBOT ARM WITH JOINT AND LINK FLEXIBILITY MANIPULATING A CONSTRAINED OBJECT[J].Chinese Journal of Mechanical Engineering,2003,39(6):9-12. |
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| Authors: | Zhang Chengxin Yu Yueqing |
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| Affiliation: | Beijing Polytechnic University |
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| Abstract: | The dynamic model of a robot arm with both joint and link flexibility is developed for the manipulation of a constrained object based on the absolute coordinates. The forward dynamic model is derived according to the kinematic and dynamic constraints between the operated object and environment. When the desired trajectory of object and its contact forces with environment are selected as boundary conditions, the inverse dynamic model is developed. A reasonable input for a specified task can be obtained from the proposed inverse model. The forward dynamic model can be used for numerical simulation. The advantage of the new method is illustrated through an example of a 3R robot arm with joint and link flexibility. |
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| Keywords: | Flexible robot arm Dynamic modeling Constrained motion Trajectory tracking |
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