单柔性杆末端运动控制的一种逆动力学方法

给出了一种适合单柔性杆机构运动控制的逆动力学分析方法。该方法采用有限元法建立机械的分析模型，用子结构法降低问题的分析规模，得到一个可以直接求解的反映末端轨迹与关节输入力矩关系的二阶微分方程。该方法的计算量比较小，适合用于柔性臂末端点运动轨迹的实时控制。

An Inverse Dynamics Approach to Control over the End-Point Vibration of a Single-Link Flexible Arm

This paper presents an inverse dynamics method applicable to control over the end point vibration of a single link flexible robot. The method uses finite element method to build up the analysis model of the system.The sub structure method is used to lower the analysis scale of the problem and obtain a second order differential equation,which reflects the relation between the driving moment at the joint and the end trajectory.This method has the small amount of calculation and is adaptable to the real time control over the motion trace of the flexible arm end point.