柔性机械手测速反馈消振的理论与实验研究

Measuring speed feed back control to smooth the vibration of flexible robot arms: theoretical and experimental results

在柔性机械手的研究中，如何在实现定位目标的同时快速消除柔性振动，是控制实现中的一个主要问题。本文首先对柔性机械手测速反馈消振的理论基础进行了研究，讨论了该方法对系统稳定性和耗散性的影响；进而探讨了测速反馈在两关节柔性机械手的实现问题。最后给出了易于工程实现的测速桥方法，实验证明，它可以有效地抑制柔性振动。该方法经济简单，可靠性高，在空间机器人领域中有着广泛的应用价值。

In the research field of flexible robot arms, it is an important problem in the implementation of control that how to smooth the flexible vibration quickly in the mean time of fixing position of target. This paper first studies the theory of measuring speed feed back control to smooth the vibration, discussing the influence of this method on the stability and dissipation of system, and then approaches the implementation of the theory in a flexible dual link flexible robot arms. At last a method called measuring speed bridge which is easily realized in engineering is provided. The results indicate that this simple economical reliable method can restrain the flexible vibration effectively. It has high application values and can be used widely in the field of space robot.