|
Abstract: Compared with the cooperation of rigid robot system, the
cooperation of flexible manipulators is a complicated dynamic system
with non-linear characteristics such as the reinstituted kinematic
coordinated constraints, mathematically definitive relationship among
the grasping forces and the coupling effects between kinematic and
dynamic analyses. The dynamic model of flexible cooperative manipulators
is established by using finite element method and lagrange equation at
first. The predictive and compensative control algorithm is then
presented to complete the system inverse dynamic task, based on the
compensation of nominal rigid configuration of flexible manipulators.
Finally, a numerical example of two planar 3R flexible robots
manipulating a rigid load is illustrated successfully.
Key words: Flexible manipulator Cooperation Dynamics Control
CLC No: TP24 TH114
国家自然科学基金(59975001)和北京市自然科学基金资助项目(3012003). Received 20000927,
received in revised form 20010912
|