【摘要】 通过采用状态变量把具有stiff性质的二阶柔性操纵器动力学方程降为一阶 ,基于向前和向后Euler积分法 ,提出了一种非线性数值积分方法 ,该方法具有A0 稳定性及无限稳定性 .引用Blajer提出的修正方法对数值积分过程中约束方程的破坏进行违约修正 .对平面双连杆柔性操纵器进行的仿真计算表明了本文方法的有效性更多还原

【Abstract】 The second order stiff dynamic equations of flexible manipulator were transformed into first order equations by state variable. A method of nonlinear numerical integration was presented based on forward and backward Euler integration. This method was characterized by A 0 stability and infinity stability. The numerical solutions violating the constraints equations were corrected by Blajer′s modification approach. The effectiveness of the method was illustrated by the simulation of the flexible manipulator with two links.更多还原