| 引用本文: | 樊晓平,徐建闽,周其节,梁天培.柔性机器人的动力学建模及其控制*[J].控制理论与应用,1997,14(3):318~329.[点击复制] |
| FAN Xiaoping，XU Jianmin and ZHOU Qijie,T. P. LEUNG.Dynamic Modeling and Control of Flexible Robotic Manipulators[J].Control Theory and Technology,1997,14(3):318~329.[点击复制] |
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| 柔性机器人的动力学建模及其控制* |
| Dynamic Modeling and Control of Flexible Robotic Manipulators |
| 摘要点击 992 全文点击 456 投稿时间：1995-10-10 修订日期：1996-09-25 |
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| DOI编号 |
| 1997,14(3):318-329 |
| 中文关键词 柔性机器人 动力学建模 控制 Lagrange方程 Hamilton原理 有限元法 奇异摄动 反馈线性化 模糊控制 |
| 英文关键词 flexble-link robotic manipulators dynamic modeling control Lagrange equation Hamilton's principle finite-element method singular perturbation feedback linearization fuzzy control |
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| 中文摘要 |
| 本文首先综述了近年来在柔性机器人动力学建模方面所取得的进展，着重介绍了目前较常用的几种建模方法和模型，同时对柔性机器人的控制问题进行了评述，指出了今后研究的方向． |
| 英文摘要 |
| In this paper, the recent advances in dynamic modeling of flexible-link robotic manipulators are surveyed, and several generally-used modeling techniques and dynamic models are discussed. Meanwhile, the control strategies and methods of flexible robotic manipulators with flexible links are evaluated, and development trends in the study of dynamic modeling and control of flexible robots are finally pointed out. |
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