期刊信息
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- 刊名: 河北师范大学学报(自然科学版)Journal of Hebei Normal University (Natural Science)
- 主办: 河北师范大学
- ISSN: 1000-5854
- CN: 13-1061/N
- 中国科技核心期刊
- 中国期刊方阵入选期刊
- 中国高校优秀科技期刊
- 华北优秀期刊
- 河北省优秀科技期刊
Dynamics and Control of Free-floating Flexible Manipulator
摘要/Abstract
摘要:
导出了漂浮载体弹性机械臂系统约束方程和动力学方程,利用逐次近似法讨论了机械臂结构弹性对负载位姿的影响。提出消除弹性影响的控制方法,并通过算例加以说明。
Abstract:
The dynamic equations and constraint equations of a free-floating flexi-le manipulator are derived. The influence of defletion of the manipulator on payload position and attitude is discussed. A control strategy to eliminate the influence of flexibility is proposed by use of the iteration method, and a numerical example is given.