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《China Mechanical Engineering》 2009-24
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Dynamics Analysis and Control of 1P5R Flexible Joint Manipulator

Zhuang Wei Fang Chenwei Liu XiaopingBeijing University of Posts and Telecommunications,Beijing,100876  
A dynamics model coupled rigid and flexible system of a 6DOF flexible joint manipulator was established,and the feedback linearization control of manipulators including 1 prismatic joint and 5 revolute joints was discussed detailedly.Then trajectory was designed in workspace of the system,and tracking control methods considering two different motions at the same route were simulated numerically with MATLAB.The results show that the trajectory tracking having the startup and braking phases are more effective.The flexibility of joints affects the shaft position of the revolute joint directly which absorbs the oscillations,and the more flexible,the larger of the difference between the shaft position and joint position.However,the flexibility of joints has little effect in the shaft position of the prismatic joint.
【Fund】: 留学归国人员教学、科研建设项目;; 国家863高技术研究发展计划资助项目(2006AA04Z243)
【CateGory Index】: TP242
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