An inverse dynamics control algorithm for constrained flexible-joint robots is developed. It is shown that in a flexible-joint robot, the acceleration level inverse dynamic equations are singular because of the elastic media. Implicit numerical integration methods that account for the higher order ...
一般情况下并不能有个很好的inverse dynamic model，因为同样一个轨迹，可以有无穷多组关节运动，所以会...
一般情况下并不能有个很好的inverse dynamic model，因为同样一个轨迹，可以有无穷多组关节运动，所以会...
Configuration-dependent nonlinear coefficient matrices in the dynamic equation of a robot manipulator impose computational burden in real-time implementation of tracking control based on the inverse dynamics controller (IDC). However, parallel manipulators such as a Stewart platform have relatively small wor...
control-systemsfederated-learninginverse-dynamics UpdatedMar 23, 2021 Python Add a description, image, and links to theinverse-dynamicstopic page so that developers can more easily learn about it. Add this topic to your repo To associate your repository with theinverse-dynamicstopic, visit your rep...
The Armstrong-Green algorithm is used for direct dynamic simulation. To decrease the errors in numerical integration, we use the fourth order Runge-Kutta method instead of the Euler method. Inverse dynamic functions calculate the required force and torque at every small time interval in the process...
Inverse dynamics are generated for specific command variable sets of a 12-state non-linear aircraft model to develop a control system which is valid over the entire flight envelope. Detailed descriptions of the inertial dynamic and aerodynamic models are given, and it is shown how the command ...
Keywords:attitudecontrol;onlineidentification;inversedynamics;controlallocation 综合控制是先进战斗机、先进航空控制技术 的发展趋势 [1,2] .传统的综合飞行/火力控制系 统 [3,4] 采用了耦合器结构,即根据已有的火力控 制、飞行控制系统,设计PID结构的飞/火耦合器, 构成综合控制系统.这样可以便于综合控制器与 飞行...
Inverse dynamics are generated for specific command variable sets of a 12-state non-linear aircraft model to develop a control system which is valid over the entire flight envelope. Detailed descriptions of the inertial dynamic and aerodynamic models are given, and it is shown how the command ...
The control of shoulder muscles during goal directed movements, an inverse dynamic analysis 来自 dx.doi.org 喜欢 0 阅读量: 49 作者:R Happee,FCTVD Helm 摘要: Fast goal directed arm movements in the sagittal plane were analyzed with a three-dimensional shoulder model with 95 muscle elements, ...