摘要
研究了弹性并联机器人运动过程中的振动控制问题。首次提出将冗余驱动用于弹性并联机器人减振，通过规划冗余驱动力达到了抑制机器人平台弹性振动的目的，数值模拟的结果证明了此方法不但效果明显，而且简便易行。
The vibration control of elastic parallel manipulators during their motions is studied in this paper. By the first time, the method of vibration control of elastic parallel manipulators by actuation redundancy has been put forward. The elastic vibrations of the plates of the manipulators can be greatly restrained by redundant actuating force programming.Numerical example shows that this method is effective and easy to use.
出处
《机械科学与技术》
CSCD
北大核心
1997年第6期941-944,共4页
Mechanical Science and Technology for Aerospace Engineering
