摘要
本文讨论了复杂机构开环控制逆动力学分析的一种新方法。它通过直接设计机构的开环输入，使机构完成给定的运动或跟踪给定的优化轨迹，同时抑制或消除不希望的干扰运动。本文提出了求解所得逆动力学方程的一种较为普遍的解法—模型递推算法，并给出了仿真示例。
The inverse dynamic analysis of open-loop control for complicated mechanismswas stUdied in the present paper. The open-loop inputs were determined which can make thecomplicated mechanisms complete the prescribed motions or trace the prescribed optimaltwectories, with the unexpected motions or dissonances being restricted or eliminatedsimultaneously. A common solution tO the inverse dynamic equation-- Model RecurrenceAlgorithm was also ProPOsed and a numerical example was given.
出处
《工程力学》
EI
CSCD
北大核心
1999年第3期113-119,共7页
Engineering Mechanics
基金
国家自然科学基金
高等学校博士学科点专项科研基金
北京理工大学引进人才科研启动基金
关键词
复杂机构
逆动力学分析
开环控制
算法
complicated mechanism
inverse dynamic analysis, nonlinear two-point boundaryvalue problem
quasi-linearization method
