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

doi:10.6052/0459-1879-1997-3-1995-241

Article Contents

Article Navigation > Chinese Journal of Theoretical and Applied Mechanics > 1997 > 29(3): 373-379

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

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

doi: 10.6052/0459-1879-1997-3-1995-241

北京理工大学机电控制工程系

Publish Date: 1997-05-25

Abstract

Abstract

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.
- inverse dynamics of robot,
- nonlinear two point boundary value problem,
- quasilinearization,
- trajectory tracking