单连杆弹性手臂控制研究

Control of One-link Flexible Robot Arm

本文用状态反馈方法对单连杆弹性手臂进行了控制实验.控制中依赖的模型由哈密顿原理和模态分析法推出.在单连杆弹性臂的实验装置中,用应变片来检测振动信号,微机作为控制器.实验结果表明:加入反馈控制后,对系统的振动抑制是有效的.

In this paper, a state feedback controller is developed to control a one-link flexible robot arm. The model, on which the controller is based, is obtained by using Hamilton's principle and the mode analysis method. A set of experiments is constructed to demonstrate the control strategy for a flexible arm, where a strain gage was used as a vibration sensor and a microcomputer was equipped as a controller. The experimental result shows that the state feedback controller is useful for eliminating the effect of vibration.