In the nominal model of the manipulator trajectory tracking controller constructed by UdwadiaKalaba equation,the initial conditions are difficult to satisfy the constraint equations,and the constraint violation is generated by the accumulation of errors in the process of numerical solution,which are all problems to be solved at present. Problems are solved by the method of eliminating violation errors directly. This method adds correction items to position and speed terms which are produced by the numerical...
【更新日期】
2018-12-11
【分类号】
TP241
【正文快照】
网络出版地址:kns. cnki. net/kcms/detail/11. 2625. V. 20180510. 0852. 001. html引用格式:吕桂志,刘荣. Udwadia-Kalaba方程构建操作臂名义模型的违约消除[J].北京航空航天大学学报,2018,44 (11):2305-2311. LYU G Z,LIU R. Violation elimination of nominal models for m
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