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对于重载下高速、高精度工作的机械手有必要考虑结构弹性对系统性能的影响。本文采用模态展开法导出了单连杆弹性机械手的动力学模型,并考虑了最优控制问题。
It is necessary to consider the effect of structural flexibility on the system performance under heavy load with high speed and high precision. In this paper, the dynamic model of single link flexible manipulator is derived by modal expansion method, and the optimal control problem is considered.