柔性机械臂计算转矩控制器仿真

[1991] Proceedings of the 34th Midwest Symposium on Circuits and Systems Pub Date : 1991-05-14 DOI:10.1109/MWSCAS.1991.252206

T.D. Looke, M. Bayoumi, M. Farooq

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引用次数: 3

摘要

利用有限元技术开发了一个通用仿真模型，以测试具有旋转关节的多连杆柔性机械臂的计算扭矩控制算法。提出了使用该仿真工具测试柔性机器人关节控制器的方法，并给出了具体的仿真结果，显示了单连杆和双连杆柔性机械臂对所开发的计算扭矩控制算法的响应

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Simulation of computed torque controllers for flexible manipulators

A finite element technique has been exploited to develop a general-purpose simulation model to test computed torque control algorithms for multilink, flexible manipulators with revolute joints. The methodology for using this simulation tool to test flexible robot joint controllers is presented along with specific simulation results showing the response of one- and two-link flexible manipulators to the computed torque control algorithms developed.<>

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[1991] Proceedings of the 34th Midwest Symposium on Circuits and Systems

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