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本文提出了一种柔性机械臂低振动开环输入力矩的轨迹跟踪设计方法。用模态展开方法建模,对沿给定优化轨迹的扰动方程进行最优控制模拟,提出了模型递推的改进的拟线性化方法以求解产生的非线性两点边值问题,数值仿真结果和分析结果是一致的。
This paper presents a trajectory tracking design method of low vibration open loop input moment of flexible manipulator. The modal expansion method is used to simulate the perturbation equation along a given trajectory optimally. An improved quasi-linear method for model recursion is proposed to solve the nonlinear two-point boundary value problem. Numerical simulation results And the analysis results are consistent.