双摆逆动力分析2 inverse double pendulum2.pdfVIP

InverseDynamicanalysisofdoublependulum

张天枢5120109084

Ⅰ.Mechanismdraftcoordinatesystem

LinkBisconnectedtothegroundwithrevolutejointO,connecttoBwithrevolutejointA.

12

Givenparameters:

mmm12,lllm1kglm112,,

Drivingconstraintequation:t,t121

CalculatetimehistoriesofR,R,M,M

1x1y12

Initialestimate:

T

13

(q0)00l2l200

Ⅱ.Theconstraintequation

l

x12cos1

y12lsin1yx11

ll1

x22cos21x2cos1，qx

ll2

y22sin1ysin1y2

22

1t2



t

21

Ⅲ.FlowChart

输入t,t,t,q(t)0e0的初值

t=t0

T1/2

计算,del=()

∣del∣1

计算q

−1