【摘要】 基于绝对坐标，以期望轨迹而不是名义刚性位置作为机器人末端点的边界条件，建立了具有柔性关节和柔性杆的机器人的逆动力学模型，此方法可使柔性机器人非常准确地跟踪期望轨迹。最后，提出了求解此类非线性方程的数值算法。通过对３Ｒ机器人进行仿真，表明本方法优于通常的方法。更多还原

【Abstract】 An approach is presented for the inverse dynam-ics and trajectory tracking of manipulators with both link and joint flexibility in absolute coordinates. Assume the anticipated trajectory to be the dynamic model’s boundary condition, the inverse dynamic model was developed. The input angle and torque can be determined to drive the manipulator to follow its given tip trajectory accurately. An algorithm is proposed to solve the resulting nonlinear differential equations. The effectiveness of the new method has been illustrated through the simulation of a 3R manipulator.更多还原