柔性机器人的协调操作及其逆动力学控制算法

柔性协调机器人系统是一个含柔性机器人内部各杆之间，运动协调约束条件和动力协调约束条件之间，柔性机器人与负载之间，以及柔性机器人之间高度耦合的复杂非线性系统，无论在动力学建模，还是控制算法方面都要比刚性协调机器人困难得多。通过对刚、柔性机器人协调操作系统本质特性的比较，利用有限元法和Lagrange方程建立了柔性协调机器人系统的动力学模型，并以系统逆动力学任务为目标，提出了通过校正机器人名义刚性运动来达到提高系统位姿控制精度的预测校正控制算法，成功给出了平面两3R柔性臂机器人协调操作刚性负载的仿真算例。

ON THE COOPERATION OF FLEXIBLE MANIPULATORS AND INVERSE DYNAMIC CONTROL ALGORITHM

Compared with the cooperation of rigid robot system, the cooperation of flexible manipulators is a complicated dynamic system with non-linear characteristics such as the reinstituted kinematic coordinated constraints, mathematically definitive relationship among the grasping forces and the coupling effects between kinematic and dynamic analyses. The dynamic model of flexible cooperative manipulators is established by using finite element method and lagrange equation at first. The predictive and compensative control algorithm is then presented to complete the system inverse dynamic task, based on the compensation of nominal rigid configuration of flexible manipulators. Finally, a numerical example of two planar 3R flexible robots manipulating a rigid load is illustrated successfully.