【摘要】 基于绝对坐标建立了柔性臂机器人协调操作的动力学模型。由此推导出协调操作的正动力学模型。令被操作物体质心的实际位置,而不是名义刚性位置为边界条件并且满足期望轨迹,由提出的载荷分配方法,建立了柔性臂机器人协调操作的逆动力学模型。由此逆动力学模型求出的关节输入值可使机器人操作物体准确地实现期望轨迹。借助逆动力学模型,通过规划载荷分配系数,可以获得各机器人的最优载荷分配比例和系统的最大承载能力。仿真结果验证了本方法的正确性和有效性。更多还原

【Abstract】 The dynanmic model of cooperative manipulators with flexible links is developed in absolute coordinates. The forward dynamic equation of the cooperative system is derived. Assuming the actual, but not the morninal rigid position of load’s mass center as the boundary condition, the inverse dynamic model of the cooperative manipulators is proposed by the force distribution method. With the solution of inverse dynamic equation, the manipulators can operate the object to track a desired trajectory accurately. The optimum load distribution and load capacity are obtained by programming the distribution factors. The effectiveness of the proposed method is demonstrated through numerical simulations.更多还原