单连杆柔性机械臂的渐近逆动力学

Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI:10.1109/ICAR.1991.240471

A. Tornambè

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引用次数: 0

摘要

研究了具有弹性连杆的机械臂内部动力学不稳定情况下的逆动力学问题。介绍了一类渐近逆动力学问题，给出了其求解过程。以单连杆机械臂为例，提出了该理论。

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Asymptotic inverse dynamics of single-link flexible robot arms

Deals with the inverse dynamic problem, for robotic manipulators having elastic links, for the case of unstable internal dynamics. An asymptotic inverse dynamic problem is introduced, and a procedure for its solution is presented. The theory is presented with reference to single-link manipulators.<>

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Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments

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