| 柔性机械臂运动轨迹规划模板函数的比较研究 |
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| 引用本文： | 王国利,郭雪梅.柔性机械臂运动轨迹规划模板函数的比较研究[J].汕头大学学报(自然科学版),1999,14(1):78-85. |
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| 作者姓名： | 王国利 郭雪梅 |
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| 作者单位： | 汕头大学计算机系!汕头，515063，汕头大学计算机系!汕头，515063 |
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| 基金项目： | 国家自然科学基金!5905001，广东省自然科学基金!970379 |
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| 摘 要： | 末端加速度曲线中含有的高频成分会激励起柔性机械臂逆动力学的病态行为，由此限制了末端最小运动时间轨迹跟踪控制的实现,本文对轨迹规划的模板函数进行了比较研究，以揭示不同模板函数生成的末端运动轨迹对运动学及动力学关键参量的内在影响.
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| 关 键 词： | 柔性机械臂 逆动力学 运动轨迹规划 |
A comparative study of the trajectory of a flexible manipulator generated by templet functions |
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| Wang Guoli, Guo Xuemei.A comparative study of the trajectory of a flexible manipulator generated by templet functions[J].Journal of Shantou University(Natural Science Edition),1999,14(1):78-85. |
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| Authors: | Wang Guoli Guo Xuemei |
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| Abstract: | In this paper is investigated the high frequency factors contained in a tip acceleration profile which excite the ill-posed behaviors of the flexible manipulator related to inverse dynamics, a phenomenon which limits the implementation of the minimum time tip trajectory tracking control, This paper makes a comparative study of a set of templet functions in motion trajectories planning that generate tip trajectores for an analysis of the inherent effects of the various tip trajectories generated by different templet functions upon the key paramters related to kinetics and dynamics, |
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| Keywords: | flexible manipulator inverse dynamics motion trajectory planning |
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