【摘要】 针对具有柔性关节和柔性臂的机器人协调操作刚性负载时，其逆动力学问题存在冗余驱动这种情况，提出了一种载荷分配方法。将这种分配方法与基于绝对坐标并以期望轨迹为实际边界条件的逆动力学模型相结合，可以有效地解决冗余驱动问题。文中就两个具有柔性关节和柔性臂的３Ｒ机器人协调操作刚性负载为例，验证了本方法的有效性。更多还原

【Abstract】 A load-distribution method is presented for the redundant actuation of cooperating robots with both link and joint flexibility. The method and the inverse dynamic model, with the anticipated trajectory to be the dynamic model’ s bounding constraints in absolute coordinates, cooperate to make the load distribution a success. The effectiveness of the method is demonstrated through simulation of two flexible-link and flexible-joint 3R robots manipulating a rigid load.更多还原