【摘要】 主要研究一种新的具有树型结构的可重构机械臂的自组织协调控制问题。首先给出这种可重构机械臂的运动学、动力学方程及与其结构变化的关系；然后通过研究一个较通用的任务模型，建立了系统的动力学方程，由此提出一个自组织协调控制策略。最后仿真结果证明了控制规律是有效的。更多还原

【Abstract】 econfigurable manipulator is the manipulator whose structure can be changed with the task and environment. This paper investigates the control problem of a new kind of reconfigurable manipulator which is of a tree-type structure. First, the structural change and the kinematic and dynamic equations of the reconfigurable manipulator are studied. Then, the dynamic equations of the system are established. Based on the equations, a self-organizing coordinated control scheme is presented. Finally, the effectiveness of the scheme is shown by simulation results.更多还原