一种新的柔性机械臂开环主动控制的逆动力学方法

A NEW INVERSE DYNAMICS METHOD FOR OPEN—LOOP ACTIVE CONTROL OF ONE—LINK FLEXIBLE MANIPULATOR

摘要: 本文提出了一种在时域上设计柔性机械臂开环控制力矩的逆动力学方法。该方法在实现铰点点位置运动的前提下,可以有效的抑制臂结构的弹性振动。

Abstract: In this paper, the new inverse dynamics method, which designs the open—loop control torque for one—link flexible manipulator, is proposed. The approach not only realizes precisely the point—to—point position motion of joint but also supresses effectively the elastic vibration of arm.