Its new global dynamic model in terms of measured joints is derived by coordinate transformation, and the decoupled control equations for joint relative angles and elastic parts of the flexible manipulator are obtained with the model-based nonlinear decou
Its new global dynamic model in terms of measured joints is derived by coordinate transformation, and the decoupled control equations for joint relative angles and elastic parts of the flexible manipulator are obtained with the model-based nonlinear decou
通过坐标变换，推导出一种新的以可测关节角为变量的全局动态模型，并在此基础上运用基于模型的非线性解耦反馈控制方法得到关节相对转角与柔性臂的弹性变形部分解耦形式控制方程。