重み付き残差法による柔軟多体系の漸化形動力学モデル

概要

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In this paper, two kinds of mathematical models of flexible bodies connected by rotary joints are derived in a recursive form based on the method of weighted residual. The first one uses the translational and angular velocities and the modal amplitudes of the elastic deformation of the bodies as the state variables. The mathematical model derived is an extension of the model of a rigid multibody system based on the Newton-Euler method. The second one uses the translational velocity of the base body and the angular velocities and the modal amplitudes of the elastic deformation of the bodies as the state variables. The mathematical model derived is the same as the model based on the Lagrangian formulation with quasi coordinates. The algorithms of the inverse dynamics of a flexible manipulator are derived using the models obtained.
社団法人日本機械学会の論文
1994-12-25