| 挠性双摆动力学仿真和空间挠性机械手控制 |
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| 引用本文： | 李珠,梁成. 挠性双摆动力学仿真和空间挠性机械手控制[J]. 太原理工大学学报, 1993, 0(2) |
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| 作者姓名： | 李珠 梁成 |
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| 作者单位： | 太原工业大学应用数理力学系(李珠)，太原工业大学应用数理力学系(梁成) |
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| 基金项目： | 山西省自然科学基金资助项目 |
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| 摘 要： | 本文对普通工业挠性机械手特例挠性双摆进行了动力学仿真,其结果和PBUsoro的工作完全吻合,本文对空间挠性机械手典型工况进行了正弦加载方式的开环控制,实现了到达指定位置时机械手端点负载的速度以及机械臂转动角速度为零的工作要求。
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| 关 键 词： | 挠性机械手 GEAR’S算法 动力学 控制 |
The Dynamics Simulation of a Flexible Double Pendulum and the Control for the Flexible Manipulator on Space |
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| Li Zhu Liang cheng. The Dynamics Simulation of a Flexible Double Pendulum and the Control for the Flexible Manipulator on Space[J]. Journal of Taiyuan University of Technology, 1993, 0(2) |
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| Authors: | Li Zhu Liang cheng |
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| Affiliation: | Department of Applied Science and Mechanics |
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| Abstract: | A numerical simulation and analysis of dynamics has been performed to the flexible double pendulum, which is a sepecial example of flexible manipulator used in. industry.The simulation re'sults obtained in this paper are no difference with the results obtained by P B Usoro.A kind of open loop control for sine way of diving torque has been performed to one typical work case of the manipulator on space , and the requir-ment that the speed of manipulator tip and rotational angular are zero when the manipulator arrives at a given placement has been achieved basically. |
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| Keywords: | flexible manipulator GEAR' S Algorithm dynamics control |
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