摘要
研究了受约束双连杆柔性臂的力 /位置鲁棒控制。基于假设模态法导出受约束双连杆柔性臂系统的动力学方程 ,利用奇异摄动理论将其分解为慢变和快变两个子系统。针对慢子系统 ,基于力反馈设计了动态混合控制器 ;针对快子系统 ,设计带低通特性的最优控制器。由此得到的组合控制使柔性臂的末端轨迹和接触力得到精确控制。仿真结果表明该方法的有效性。
Robust position/force control of two link constrained flexible manipulators is studied.The dynamic model of two link constrained flexible manipulators is established.Based on singular perturbation approach the model is divided into two sub systems.Robust controller are designed in the two systems,respectively.A hybrid dynamic controller bosed force feedback is designed for the slow sub system,An optimal controller with low pass characteristics is presented for the fast sub system.Simulation results show that the combined controller is effective.
出处
《吉林大学学报（信息科学版）》
CAS
2002年第3期81-84,共4页
Journal of Jilin University（Information Science Edition）
基金
国家自然科学基金资助项目 (6970 5 0 0 7)
关键词
受约束柔性臂
力/位置动态混合控制
残余模态滤波器
Constrained flexible manipulator
Dynamic hybrid force/position control
Mode remainder filter
