摘要
提出了一种求解线性时变两点边值问题的时变谱方法,并将其用于带有滑移/转动铰的单柔性机械臂的开环低振动最优力矩的计算,算例表明此方法在精度和节省运算时间上均优于一般的数值积分方法。
A time—varying spectrum method to solve the linear time—varyingtwo—point boundary—value problem is proposed.And it is used in the determinationof low vibration open—loop opitimal torque of a single—link flexible manipulatorwith both prismatic and rotary joints.Numerical example shows that the proposedmethod have some advantages over the method based on digital integrations.
出处
《哈尔滨工业大学学报》
EI
CAS
CSCD
北大核心
1993年第1期59-65,共7页
Journal of Harbin Institute of Technology
基金
国家自然科学基金
高校博士学科点科研基金
关键词
两点边值问题
机械手
最佳控制
Two-point boundary-value problem
time-varying spectrum method
inverse dynamics of flexible manipulator
optimal control
digital integration
