| 柔性机械臂动力学奇异性渐近行为的比较研究 |
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| 引用本文： | 郭雪梅, 王国利, 张宪民. 柔性机械臂动力学奇异性渐近行为的比较研究. 自动化学报, 2000, 26(3): 324-331. |
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| 作者姓名： | 郭雪梅 王国利 张宪民 |
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| 作者单位： | 1.汕头大学工学院,汕头 |
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| 基金项目： | 国家自然科学基金!( 5 9975 0 5 6 )，广东省自然科学基金!( 970 379) |
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| 摘 要： | 通过对柔性机械臂动力学系统的零极点及其模态参量渐近行为的解析分析,讨论了模态截取和零点截取有限维近似模型动力学奇异性关于阶次的渐近行为,并进行了比较研究.此外,还就截取模型的高阶项对逆动力学计算力矩病态行为的影响进行了数值比较分析.
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| 关 键 词： | 柔性机械臂 动力学奇异性 逆动力学 |
| 收稿时间： | 1997-11-07 |
| 修稿时间： | 1997-11-07 |
ASYMPTOTIC BEHAVIOR OF DYNAMIC SINGULARITY OF FLEXIBLE MANIPULATORS:A COMPARATIVE STUDY |
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| Guo Xuemei, Wang Guoli, Zhang Xianmin. Asymptotic Behavior of Dynamic Singularity of Flexible Manipulators:A Comparative Study. ACTA AUTOMATICA SINICA, 2000, 26(3): 324-331. |
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| Authors: | GUO Xuemei WANG Guoli ZHANG Xianmin |
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| Affiliation: | 1. Engineering College,Shantou University,Shantou |
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| Abstract: | Based on analytical analysis for theasymptotic expressions of the poles, zeros and modal parameters of a flexible manipulator,the asymptotic behavior of the dynamic singularity is discussed analytically for bothzero-truncated and modal truncated approximation models, and the comparison is carried outas well. An numerically comparative study for the inverse dynamics is made to illustratethe effects of high order terms of the truncated models on the ill-posed behavior of thecalculated torque. |
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| Keywords: | Flexible manipulator dynamic singularity inverse dynamics. |
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