柔性机械手的模态分析与模态辨识

Modal Analysis and Identification for Flexible Manipulator

柔性机械手的模态辨识是分析柔性机械手动力学与控制问题中的难点，目前有关文献的工作还不够深入，没有提出较为简单又可方便实时辨识的方法。本文提出了一种简单而有效辨识柔性机械手摸态的方法，在理论上根据哈密顿原理和滤波理论说明了该方法的正确性和可行性。

The paper presented a simple but efficient method of mode shapes identifica-tion for flexible manipulator. The method is demonstrated to be correct and feasible accord-ing to Hamilton principle and filter theory.