【摘要】 针对柔性机器人臂操作受作业环境约束的刚性负载 ,建立了系统的动力学模型。根据物体与作业环境的约束关系 ,推导出系统的正动力学模型。以期望的被操作物体的轨迹和物体与环境的作用力为边界条件 ,推导出系统的逆动力学模型。由此所求出的柔性机器人臂的输入关节角和关节驱动力矩可使机器人臂操作物体准确地实现期望轨迹和与环境的作用力。并就具有三柔性杆机器人臂操作刚性负载进行了仿真 ,验证了方法的有效性。更多还原

【Abstract】 An approach is presented for the constrained flexible-link manipulators. A forward dynamic model is derived according to the kinematic and dynamic constrains between the operated object and the environment. The forward dynamic model can be used to simulate the system. Assuming the desired trajectory of the contact point and the desired contact force to be as the dynamic model’s boundary conditions, the inverse dynamic model has been developed. With the joint angles and torques calculated from the inverse dynamic model, the flexible-link manipulator can drive the object to follow its given trajectory and contact force accurately. The effectiveness of the new method is illustrated through the simulation of a 3R flexible-link manipulator.更多还原