제어로봇시스템학회:학술대회논문집
- 1992.10a
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- Pages.254-259
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- 1992
Inverse dynamic analysis of flexible robot arms with multiple joints
다관절 유연 로보트 팔의 역동력학 해석
Abstract
In this paper, we propose an optimal method for the tracking a trajectory of the end-effector of flexible robot arms with multiple joints. The proposed method finds joint trajectories and joint torques necessary to produce the desired end-effector motion of flexible manipulator. In inverse kinematics, optimized joint trajectories are computed from elastic equations. In inverse dynamics, joint torques are obtained from the joint equations by using the optimized joint trajectories. The equations of motion using finite element method and virtual work principle are employed. Optimal control is applied to optimize joint trajectories which are computed in inverse kinematics. The simulation of flexible planner manipulator is presented.
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