...
  • 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>Optimal Control Applications and Methods >Theoretical and experimental study of dynamic load-carrying capacity for flexible robotic arms in point-to-point motion
【24h】

Theoretical and experimental study of dynamic load-carrying capacity for flexible robotic arms in point-to-point motion

机译：柔性机械臂在点对点运动中动态承载能力的理论与实验研究

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

This paper involves the study of a general formulation and numerical solution for the dynamic load-carrying capacity of a mechanical manipulator with elastic links. The approach presented in this article is based on an open-loop optimal control. This method results from the Pontryagin minimum principle, which yields a 2-point boundary value problem. The indirect method has been exploited to extract the optimality conditions. The dynamic equations of motion for this system have been obtained by means of the Gibbs-Appell formulation and by applying the assumed modes method. The elastic characteristics of the members have been modeled based on the Timoshenko beam theory and its associated mode shapes. The aim of this research is to calculate the maximum-allowed load that a mechanical manipulator with flexible links can carry while traversing an optimal path. At the end, to evaluate the proposed method, we made a comparison between the simulation results obtained from the presented model and the experimental results obtained from a manipulator with 2 flexible links. The comparison between the simulation and empirical data confirms the credibility of the presented method in computing the dynamic load-carrying capacity and controlling the point-to-point motion of the considered 2-link flexible manipulator.
机译：本文涉及一种具有弹性环节的机械机械手的动态承载能力的一般配方和数值解决方案。本文呈现的方法是基于开环最佳控制。该方法由Pontryagin最小原理产生，这产生了2点边值问题。已经利用间接方法来提取最优性条件。通过Gibbs-Appell配方获得该系统的动态运动方程，并通过应用假设的模式方法获得。构件的弹性特性已经基于Timoshenko光束理论及其相关模式形状进行了建模。本研究的目的是计算具有柔性环节的机械机械机械的最大允许负载可以在穿过最佳路径的同时进行。最后，为了评估所提出的方法，我们在从所提出的模型获得的模拟结果和从机械手获得的实验结果进行了比较，具有2个柔性环节。模拟和经验数据之间的比较证实了所呈现的方法在计算动态负载承载能力和控制所考虑的2连杆柔性机械手的点对点运动时的可信度。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号