柔性机械手逆动力学计算及运动精度控制

Inverse Dynamic Calculation of Flexible Manipulator and Control of the Precision of Its Motion

当前，许多对振动的主动控制方案和逆动力学方法，存在控制策略算法复杂，实时控制较难的问题．基于机械臂为一个具有高难度、非线性和强耦合的复杂系统，对柔性机械手的逆动力学和振动抑制问题进行研究．应用极限原理，提出关节求逆方法，得到最优驱动力矩，使逆动力学计算更为简便．研究机械臂弹性振动的控制原理和策略．应用在系统构件的适当位置．施加附加控制力矩的方法，以实施系统变形各阶主模态的控制．提出抑制系统振动的有效方法，显著减少结构柔性对精确定位的影响。

In main active control schemes and inverse dynamic methods on vibration,there exist the problems of complicate in strategy and algorithm of control and difficult in real time control.In view of the facts that the robot manipulator is an extremely difficult,nonlinear,strong coupling complicate system,a study is made on the inverse dynamics and vibration inhibition of flexible manipulator.By applying principle of limit,an inversion method is presented for the joint and the optimal driving moment is obtained which will facilitate the inverse dynamic calculation.The study of the elastic vibration of robot manipulator centers on principle and strategy of its control.The proper position of the member is exerted so as to realize the control of the main modals of system deformation in different order.An effective method is obtained for inhibiting vibration of the system,with which the effect of structural flexibility on precision positioning can be remarkably reduced and the stability of the precision of the motion can be improved.