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Abstract: The dynamic model of a robot arm with both joint and link
flexibility is developed for the manipulation of a constrained object
based on the absolute coordinates. The forward dynamic model is derived
according to the kinematic and dynamic constraints between the operated
object and environment. When the desired trajectory of object and its
contact forces with environment are selected as boundary conditions, the
inverse dynamic model is developed. A reasonable input for a specified
task can be obtained from the proposed inverse model. The forward
dynamic model can be used for numerical simulation. The advantage of the
new method is illustrated through an example of a 3R robot arm with
joint and link flexibility.
Key words: Flexible robot arm Dynamic modeling Constrained motion
Trajectory tracking
CLC No: TP242
国家自然科学基金(59975001)和北京市自然科学基金(3012003)资助项目.
Received 20011201, received in revised form 20020620
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