柔性变截面滑移式机器人手臂的动力学与控制

Vibrations and Control in a Moving Flexible Robot Arm with Variable Sections

本文研究柔性变截面滑移式机械手的动力学与控制。首先利用Kane方法分析柔性机械手的振动特性;然后基于有限元法导出一种控制机械手振动的模型,将控制过程分为“粗控”和“精控”两步进行;最后进行了数值模拟。

Dynamics and control in a moving flexible robot arm with variable sections are studied. Firstly Kane's equation is used for analyzing vibration properties of flexible arm, the stability domain is obtained. Then the model to control vibrations of the arm has been established by the finite element method. Considering the system noise and measurement noise, the control is devided into two steps, roughing control and precision control. Finally numerical simulation has been made.