机械臂, 柔性关节, 动力学建模, 反馈线性化控制

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.

manipulator, flexible joint, dynamics modeling, feedback linearization control