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https://repository.cihe.edu.hk/jspui/handle/cihe/2743| Title: | 一種求解柔性操縱器動力學方程的數值方法 | Other Titles: | A numerical method for solving the dynamic equations of the flexible manipulator | Author(s): | Leung, Andrew Yee Tak | Author(s): | 李美之 鐘偉芳 吳國榮 |
Issue Date: | 2004 | Publisher: | 華中科技大學 | Journal: | 華中科技大學學報(自然科學版) | Volume: | 32 | Issue: | 8 | Start page: | 25 | End page: | 27 | Abstract: | 通過採用狀態變量把具有stiff性質的二階柔性操縱器動力學方程降為一階, 基於向前和向後Euler積分法, 提出了一種非線性數值積分方法, 該方法具有A0穩定性及無限穩定性。引用Blajer提出的修正方法對數值積分過程中約束方程的破壞進行違約修正。對平面雙連桿柔性操縱器進行的仿真計算表明了本文方法的有效性。 |
URI: | https://repository.cihe.edu.hk/jspui/handle/cihe/2743 | DOI: | 10.3321/j.issn:1671-4512.2004.08.009 | CIHE Affiliated Publication: | No |
| Appears in Collections: | CIS Publication |
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