摘要
本文分析了挠性机器人逆动力学问题的数学模型,成功地提出了一种逆动力学控制的迭代算法——动态位姿误差补偿方法,可离线或实时计算执行目标位姿所需的驱动力矩和关节变量.本方法具有计算量小、精度高的特点,同时提出了具有动态前馈-伺服补偿和振动抑制结合的阶层控制方案.
In this paper,the mathematical model of inverse dynamic control of flexible robot arms is analyzed.Theiterative algorithm of inverse dynamic problems,that is,the method of errors compensation of the dynamicposition and orientation is put forward successfully,with which the driving torque and joint variables for ob-jective position and orientation can be calculated off-line or in real-time.The simulation results show that thismethod has the advantages of less amount of calculation and higher accuracy.In the same time,this paperpresents a hierarchical control system which incorporates organically two functions:dynamic feedforward-servo compensation and vibration suppression control with torque feedback.
出处
《机器人》
EI
CSCD
北大核心
1992年第6期15-19,共5页
Robot
关键词
机器人
动力学
迭代算法
位姿补偿
flexible robot
inverse dynamic control
iterative algorithm
compensation method
vibration suppression
