单连杆柔性机械臂的动态稳定控制及逆动力学计算

Q3 Engineering

International Journal of Mechanical Engineering and Robotics Research Pub Date : 2023-01-01 DOI:10.18178/ijmerr.12.4.200-209

N. Quyen, Bui Thi Hai Linh, Duong Quoc Tuan, Nguyen Trung Thành, N. Quang

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引用次数: 0

摘要

-当机器人机械手高速运行时，其连杆的弹性振动是不可避免的。为了研究这种振动现象，本文研究了单连杆柔性机械臂的建模、动态稳定控制和逆动力学计算问题。提出了一种研究柔性机械臂动态稳定性和逆动力学计算的算法。最后，以单连杆柔性机械臂为例，对该算法进行了验证。通过数值仿真，验证了该算法的有效性和实用性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Dynamic Stability Control and Calculating Inverse Dynamics of a Single-link Flexible Manipulator

—When a robot manipulator operates at high speeds, the elastic vibration of its links is inevitable. To study this vibration phenomenon, the present paper deals with the problem of modelling, the dynamic stability control and calculating inverse dynamics of a single-link flexible manipulator. An algorithm to study dynamic stability and calculate inverse dynamics of flexible manipulators is proposed. The proposed algorithm is demonstrated and verified by the model of a flexible single-link manipulator. Through numerical simulation, the efficiency and usefulness of the proposed algorithm were demonstrated as well.

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来源期刊

International Journal of Mechanical Engineering and Robotics Research Engineering-Mechanical Engineering

CiteScore

2.80

自引率

0.00%

发文量

期刊介绍： International Journal of Mechanical Engineering and Robotics Research. IJMERR is a scholarly peer-reviewed international scientific journal published bimonthly, focusing on theories, systems, methods, algorithms and applications in mechanical engineering and robotics. It provides a high profile, leading edge forum for academic researchers, industrial professionals, engineers, consultants, managers, educators and policy makers working in the field to contribute and disseminate innovative new work on Mechanical Engineering and Robotics Research.