摘要
综述了柔性机器人动力学分析与振动控制的研究现状 ,对变形的描述、变形场的离散化、建模方法、近似分析、减振结构设计及关节作动系统控制律设计等关键问题进行了详细阐述。
Present situation on the study of dynamics analysis and vibration control of flexible robots is summarized.A detailed elaboration has been carried out on the key problems of deformation description,discretization of deformation field,modeling method,approximate analysis,design of vibration damping structure and design of controlling rate of joint movement system.The development trends of this domain in the days to come was looked ahead in brief.
出处
《机械设计》
CSCD
北大核心
2003年第4期1-5,共5页
Journal of Machine Design
基金
国家自然科学基金资助项目 (599750 0 1 )
中国博士后科学基金资助项目
