摘要
动力学建模问题一直是困扰机器人柔性臂研究和应用的一个尚未圆满解决的关键问题。针对目前机器人柔性臂动力学建模的研究和发展状况，重点研究了柔性臂动力学的有限元建模问题，力求建模简单方便有效，以便于进行动力学分析和控制问题的研究。
Dynamic modeling is an un resolved and important problem in the fields of robotic research and application. Based on the situation of the research on dynamic modeling of flexible manipulator at present, the finite element method is studied as a key problem in the flexible manipulator dynamic modeling. ln the course of modeling, t he simple and effective model is pursued in order to study the problems of dyt.amic analysis and con venience in control.
出处
《哈尔滨工业大学学报》
EI
CAS
CSCD
北大核心
1997年第1期114-116,共3页
Journal of Harbin Institute of Technology
关键词
柔性臂
有限元
建模
机器人
动力学
Flexible manipulator
finite element
dynamic modeling
