摘要
研究了在垂直平面内双连杆柔性机械臂的轨迹跟踪控制问题。基于假设模态法，导出了双连杆柔性机械臂系统的动力学方程，给出了轨迹跟踪控制的补偿控制方法。设计了以微机为核心的柔性臂系统实验台。最后，通过实验台对提出的控制方法进行了实验研究。
A method for trajectory tracking of two - link flexible manipulator is presented. On the base of as- sumed mode, the dynamic equation of the two - link flexible manipulator has been developed and the compensating control method for trajectory tracking has been taken. The experimental station of flexible manipulator has been designed . At last, experimental research has been performed in the experimental seation by using the method of this paper .
出处
《电工技术学报》
EI
CSCD
北大核心
1997年第6期6-9,共4页
Transactions of China Electrotechnical Society
基金
国家自然科学基金
关键词
柔性机械手
跟踪
补偿
双连杆
柔性臂
: Two - link flexible manipulator Trajectory tracking control control
