摘要
针对具有柔性关节和柔性臂的机器人操作受作业环境约束这种情况,基于绝对坐标建立了系统的动力学模型。根据物体与作业环境的约束关系,推导出系统的正动力学模型。以期望的被操作物体的轨迹和所期望的物体与环境的作用力为边界条件,推导出了系统的逆动力学模型。对于给定的任务,所提出的逆动力学模型可求出柔性机器人的理想输入。而所提出的正动力学模型可用于数值仿真。通过对具有三柔性关节和三柔性臂的机器人臂进行仿真,验证了该方法的有效性。
The dynamic model of a robot arm with both joint and link flexibility is developed for the manipulation of a constrained object based on the absolute coordinates. The forward dynamic model is derived according to the kinematic and dynamic constraints between the operated object and environment. When the desired trajectory of object and its contact forces with environment are selected as boundary conditions, the inverse dynamic model is developed. A reasonable input for a specified task can be obtained from the proposed inverse model. The forward dynamic model can be used for numerical simulation. The advantage of the new method is illustrated through an example of a 3R robot arm with joint and link flexibility.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2003年第6期9-12,共4页
Journal of Mechanical Engineering
基金
国家自然科学基金(59975001)
北京市自然科学基金(3012003)资助项目
