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.

 

建立了六自由度柔性关节机械臂的刚柔耦合动力学模型，并在该模型的基础上讨论了1P5R(1个移动关节5个旋转关节)柔性关节机械臂的反馈线性化控制问题。在系统工作空间内设计轨迹生成器，借助MATLAB，采用数值方法分别对同一路径下两种不同运动状态的轨迹进行了跟踪仿真控制。仿真结果表明：有启动和制动阶段的轨迹跟踪效果更好；关节柔性直接影响吸收弹性振动的旋转关节轴变量，柔性越大，轴变量与关节变量的角度差越大，但关节柔性对移动关节轴变量的影响很小。