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本文分析了挠性机器人逆动力学问题的数学模型,成功地提出了一种逆动力学控制的迭代算法——动态位姿误差补偿方法,可离线或实时计算执行目标位姿所需的驱动力矩和关节变量.本方法具有计算量小、精度高的特点,同时提出了具有动态前馈-伺服补偿和振动抑制结合的阶层控制方案.
This paper analyzes the mathematical model of the problem of the inverse kinematics of flexible robots. An iterative algorithm of inverse kinematics control, ie, the dynamic attitude and position error compensation method, is successfully presented. The driving torque required to execute the target pose can be calculated offline or in real time And joint variables.This method has the characteristics of small amount of calculation and high precision, and at the same time proposes a hierarchical control scheme with the combination of dynamic feedforward-servo compensation and vibration suppression.