平移式柔性机器人的反馈跟踪控制

The Tracking Feedback Control of Cartesian Flexible Robot

本文考虑Ｘ－Ｙ平移式柔性机器人控制系统．单杆负载柔性臂系统可以描述为分布参数模型，我们对系统提出了较为一般的控制策略，在机器人手臂的根部和自由端设计观测器和跟踪反馈控制器，并利用算子半群理论证明了负载柔性机器人系统在所采用的跟踪反馈控制下是全局渐近稳定的．

The preaent paper is concerned with the control system of XY catesiam robot. The system of one-link flealble arm with payload isdescribed as a distributed parameter model. A general coDtrol strategy forthe considered system is proposed, and a traCldng feedbed control law is setto the end of flexible arm attaChed to the moving body and'the other freeend. Finally, the main result that the closeloop System of flexible arm withdesigned tracking feedbaCk cottrol is strong asylnptotically stable is provedby means of operater sendgroup theory in an aPPropriate Hilber space.