【摘要】 末端加速度曲线中含有的高频成分会激励起柔性机械臂逆动力学的病态行为，由此限制了末端最小运动时间轨迹跟踪控制的实现,本文对轨迹规划的模板函数进行了比较研究，以揭示不同模板函数生成的末端运动轨迹对运动学及动力学关键参量的内在影响.更多还原

【Abstract】 In this paper is investigated the high frequency factors contained in a tip acceleration profile which excite the ill-posed behaviors of the flexible manipulator related to inverse dynamics, a phenomenon which limits the implementation of the minimum time tip trajectory tracking control, This paper makes a comparative study of a set of templet functions in motion trajectories planning that generate tip trajectores for an analysis of the inherent effects of the various tip trajectories generated by different templet functions upon the key paramters related to kinetics and dynamics,更多还原