| Citation: | LYU Guizhi, LIU Rong. Violation elimination of nominal models for manipulators constructed with Udwadia-Kalaba equation[J]. Journal of Beijing University of Aeronautics and Astronautics, 2018, 44(11): 2305-2311. doi: 10.13700/j.bh.1001-5965.2018.0076(in Chinese)
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In the nominal model of the manipulator trajectory tracking controller constructed by Udwadia-Kalaba equation, the initial conditions are difficult to satisfy the constraint equations, and the constraint violation is generated by the accumulation of errors in the process of numerical solution, which are all problems to be solved at present. Problems are solved by the method of eliminating violation errors directly. This method adds correction items to position and speed terms which are produced by the numerical solution process. The dynamic nominal model of the three-link manipulator is constructed, and the trajectory tracking simulation is carried out under the desired trajectory based on the Udwadia-Kalaba modeling idea. The simulation numerical results are corrected by using the traditional Baumgarte stability method and the proposed error direct elimination method. The results show that the direct elimination method can control the constraint violation in a smaller range more quickly, and is more suitable for the use of trajectory correction to manipulator dynamic nominal model.
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