摘要
利用逐次近似法讨论结构弹性对末端位姿的影响，提出消除弹性影响的控制方法。讨论弹性／刚性运动学冗余系统消除结构弹性影响的路径规划方法。文中附有数值实例。
The influence of deflection of a open loop mechanism on endeffector position error is deicussed by the iteration method. The control strategy is also designed as to inrure payload tracking of the prescribed trajectories. And the path planning of flexible amcro/rigid micro manipulator system is stuided for eliminating the elastic influence. The numeric examples are presented also.
出处
《机械科学与技术》
EI
CSCD
北大核心
1999年第5期774-776,共3页
Mechanical Science and Technology for Aerospace Engineering
基金
河北省科学基金
河北省博士科研基金
关键词
开链机构
弹性变形
逐次近似法
Open loop mechanism Elastic deflection Iteration method
