单连杆弹性手臂控制的实验研究

Experimental Research on One-Link Flexible Robtic Arm Control

介绍了单连杆弹性手臂的模型及控制，通过系统辨识得到系统模型，在此基础上进行控制．使单连杆弹性臂起、制动阶段弹性单连杆的振动得到有效的抑制，

The model and the control of one-link flexible robotic arm are presented. Based on the model of the system and through identifying, some control methods are carried out. The vibration of the link during the start and brake process is reduced effectively.