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TWO POINT BOUNDARY VALUE INVERSE DYNAMIC METHODS OF FLEXIBLE MANIPULATORS ——THEORETICAL ANALYSIS AND EXPERIMENTAL RESULTS[J]. Chinese Journal of Theoretical and Applied Mechanics, 1997, 29(3): 373-379. doi: 10.6052/0459-1879-1997-3-1995-241
Citation: TWO POINT BOUNDARY VALUE INVERSE DYNAMIC METHODS OF FLEXIBLE MANIPULATORS ——THEORETICAL ANALYSIS AND EXPERIMENTAL RESULTS[J]. Chinese Journal of Theoretical and Applied Mechanics, 1997, 29(3): 373-379. doi: 10.6052/0459-1879-1997-3-1995-241

TWO POINT BOUNDARY VALUE INVERSE DYNAMIC METHODS OF FLEXIBLE MANIPULATORS ——THEORETICAL ANALYSIS AND EXPERIMENTAL RESULTS

doi: 10.6052/0459-1879-1997-3-1995-241
  • Publish Date: 1997-05-25
  • Two point boundary value inverse dynamic methods of flexible manipulators based on optimal control theory are proposed in the present paper. The open loop inputs obtained by the proposed method can make the flexible manipulator accomplish the point to point motion or trajectory tracking while greatly reduce or eli min ate the influence of the flexibility on the accurate positioning. Numerical imitation and experimental results coincide with the theoretical analyses.

     

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      沈阳化工大学材料科学与工程学院 沈阳 110142

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