机械臂的自配动控制系统.pptxVIP

single‐link?flexible?robot?arm;Arrangement：;Group?4:??single‐link? flexible?robot?arm;（m2 l2）; 1) Position equation of?manipulator?operation end：;2) The dynamics equation of mechanical arm:;The mathematical expression:;The mathematical expression and The quantitative?value:;(7);The output of the system?equations:;2.The mechanical arm odel?linearization;2) The relative?order?of computing system(计算系统相对阶);;;And:;The?system in the?neighborhood?of a?in x,; 3) Coordinate transformation;4) System is converted into?standard type:;5) State feedback matrix,