【摘要】 首次基于绝对坐标 ,建立了具有柔性关节和柔性臂的机器人协调操作刚性负载的动力学模型。由此推导出了协调操作的正动力学模型。由提出的载荷分配方法 ,以被操作物体质心的实际位置而不是名义刚性位置跟踪期望轨迹 ,建立了柔性机器人协调操作的逆动力学模型。此方法可使机器人非常准确地实现期望轨迹。文中就两个具有柔性关节和柔性臂的机器人协调操作刚性负载为例 ,验证了本方法的有效性更多还原

【Abstract】 An approach is presented for the dynamic modeling and trajectory tracking of cooperating robots with flexible link and flexible joint in absolute coordinates for the first time. First, the forward dynamic model is developed. Then, assume the anticipated trajectory to be the dynamic model’s bounding constraint and based on the proposed force distribution method, the inverse dynamic model is developed. With the inverse dynamic model, the operated object can track its given trajectory accurately. The effectiveness of the method is demonstrated through simulation of two flexible link and flexible joint 3R robots manipulating a rigid load.更多还原