Abstract:

This paper introduces the dynamics modeling and emulating of flexible multiarthrosis manipulators on the basis of screw theory, gets a inverse dynamic equation, and analyzes the control problem that the balance is broken while the terminal performer grasps a load. Through emulating, it can be proved that this algorithm has more strong stability and reflecting velocity and simplifies the complex computing processes by NewtonEuler method and others.

Key words: screw theory, flexible multiarthrosis manipulator, inverse dynamics equation, load balance, emulation