集总弹性力学系统的建模

Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065) Pub Date : 2000-04-24 DOI:10.1109/ROBOT.2000.845349

W. Khalil, M. Gautier

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引用次数: 62

摘要

提出了一种集总弹性力学系统的建模方法。该方法主要应用于具有弹性关节的高速机床和机器人。该方法可以提供此类系统的运动学和动力学模型。为了实现这一目标，我们采用了一些众所周知的工具和符号，这些工具和符号广泛用于刚性机器人。逆向动力学模型必须重新定义和发展。

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Modeling of mechanical systems with lumped elasticity

Presents a method for the modeling of mechanical systems with lumped elasticity. The main applications of the method concern high speed machine tools and robots with elastic joints. The method can provide the kinematic and dynamic models of such systems. To achieve this goal we adapted some well known tools and notations which are widely used for rigid robots. The inverse dynamic model has to be redefined and developed.

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来源期刊

Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)

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