柔性机械臂动力学奇异性渐近行为的比较研究
Asymptotic Behavior of Dynamic Singularity of Flexible Manipulators:A Comparative Study
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摘要: 通过对柔性机械臂动力学系统的零极点及其模态参量渐近行为的解析分析,讨论了 模态截取和零点截取有限维近似模型动力学奇异性关于阶次的渐近行为,并进行了比较研 究.此外,还就截取模型的高阶项对逆动力学计算力矩病态行为的影响进行了数值比较分析.Abstract: Based on analytical analysis for the asymptotic expressions of the poles, zeros and modal parameters of a flexible manipulator, the asymptotic behavior of the dynamic singularity is discussed analytically for both zero-truncated and modal truncated approximation models, and the comparison is carried out as well. An numerically comparative study for the inverse dynamics is made to illustrate the effects of high order terms of the truncated models on the ill-posed behavior of the calculated torque.
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Key words:
- Flexible manipulator /
- dynamic singularity /
- inverse dynamics
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