This paper proposes a new hybrid actuation system for near-elimination of the small oscillations of articulated flexible-robot systems (AFRS). The hybrid actuation control forces are obtained by solving a fully-constrained inverse-dynamics (FCID) problem of relatively stiff robots experiencing small deformations, which lead to deterioration of their performance and precision. The FCID procedure is based on the floating frame of reference (FFR) formulation that allows for systematically determining the actuation forces associated with deformation modes. By using the resulting FCID algebraic equations, numerical integration of the equations of motion to determine the AFRS actuation forces can be avoided. This paper summarizes the new motion/shape control strategy to be used and defines problems to be addressed in more detailed future investigations.

本文提出了一种新的混合驱动系统，用于消除柔性多关节机器人系统（AFRS）的小振动。混合驱动控制力是通过解决相对刚性较弱的机器人（发生较小变形）的完全约束逆动力学（FCID）问题而获得的，该问题导致其性能和精度下降。FCID过程基于浮动参考框架（FFR）公式，该公式可系统地确定与变形模式相关的致动力。通过使用所得的FCID代数方程，可以避免运动方程的数值积分以确定AFRS的驱动力。本文总结了新的运动/形状控制 使用的策略，并定义在更详细的将来调查中要解决的问题。