柔性机器人动力学分析与控制策略综述

A summary of the dynamics analysis and control strategy of flexible manipulators

综述了柔性机器人动力学分析和控制等相关问题,对柔性机器人动力学分析中变形场的离散化、建模方法、近似分析等问题进行了系统分析。详细介绍了被动控制、PID控制、模糊控制、神经网络控制、自适应控制、鲁棒控制、变结构控制、奇异摄动控制和非线性控制等在柔性机器人控制中的应用情况。指出了在柔性机器人动力学建模和控制中应解决的问题,这对包括柔性机器人在内的多柔体系统动力学建模与控制问题的研究有一定的促进作用。

This paper presents an overview of the literature on the dynamics analysis and control of flexible manipulator, including the key problems of deformation description, discretization of a deformation field, modeling method, approximate analysis, etc. There are many kinds of control application method in the control of the flexible manipulator, such as passive control, PID control, fuzzy control, neural-network control, adaptive control, robust control, variable structure control, singular perturbation control and nonlinear control. The paper also discusses the problems to be soved in the dynamics modeling and dynamics control of flexible mechanical arms.