The Dynamics Solving Method of Flexible Joint Robot Based on Quantized State System

Quantized state system(QSS) is a new numerical integration method, which is different from the traditional time discretization integration methods. The QSS method discretizes state variables and calculates the time required for each transition of variables. To solve the dynamics stiff equation of flexible joint robot, a step correction optimization algorithm(SCOA) based on QSS was proposed. This algorithm combines the ideas of the QSS method and the implicit trapezoidal integral method to effectively improve the dynamics solving accuracy and efficiency. The feasibility of this algorithm is proved by the simulation of four-DOF flexible joint robot. The performance of this algorithm is compared with that of the traditional integration methods and QSS method in terms of simulation efficiency and simulation accuracy. The results show that SCOA algorithm can effectively improve the simulation accuracy while ensuring the simulation efficiency, and its performance is better than the traditional methods and QSS method.