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本文提出了一种柔性机械臂的低振动的逆动力学方法。首先应用时变模态展开方法对带有滑移-转动铰的平面单柔性机械臂建模。然后分别基于一般的非线性模型和对给定运动的扰动模型,应用最优控制模拟的思想确定最优低振动输入力矩。为求解所遇到的非线性时变两点边值问题,本文提出了模型递推算法作为对拟线性化方法的改进,并采用时变加权矩阵,所求得的输入力矩具有较好的鲁棒性。
In this paper, a low-vibration inverse dynamics method of flexible manipulator is proposed. First, a time-varying modal expansion method is used to model a planar single flexible manipulator with slipping-rotating hinges. Then based on the general nonlinear model and the perturbation model for a given motion, the optimal low-vibration input moment is determined by applying the idea of optimal control simulation. In order to solve the nonlinear time-varying two-point boundary value problem, this paper proposes a model recursive algorithm as an improvement to the quasi-linearization method, and adopts the time-varying weighting matrix to obtain a good input torque Great.