摘要
将具有反馈控制的柔性臂边界条件视为铰支弹簧边界条件后，其等效弹簧刚度及等效阻尼系数为柔性臂反馈控制增益及其状态的函数。本文系统性地研究了反馈增益与柔性臂固有频率的变化规律，并通过一系列的实验结果对理论分析进行了验证。
After the hub boundary condition of the flexible manipulator with feedback control is used as a pinned spring boundary condition, the equivalent spring stiffness and the damping coefficient will be the functions of the generalized coordinates and the generalized speeds of the flexible manipulator. The relationship between the feedback control and the boundary condition of the flexible manipulator is extensively and systematically studied. The theoretical and experimental results demonstrate that the hub boundary condition with feedback control is the function of feedback gain and the structure size of the flexible manipulator.
出处
《机械科学与技术》
CSCD
北大核心
1998年第3期416-418,共3页
Mechanical Science and Technology for Aerospace Engineering
基金
国家"863"高科技发展基金
国家自然科学基金
