加速度传感器在柔性机械手振动控制中的应用

A Application of Acceleration Sensor to Vibration Control of Flexible Manipulation

本文根据刚柔分解控制策略讨论了加速度传感器在柔性机械手振动控制中的应用。通过硬件电路分离出加速度传感器输出信息中的不同分量，再分别采用直接加速度反馈法和模糊控制法实现对单连杆柔性机械手的振动控制，并给出了实验结果。

Based on the Principle of the tactics of separating the hard and flexible, this paper discusses the ap-plication of acceleration sensor to a flekible manipulator vibration controlling, Hard circuit can detach the various output informtion of accelerator. According the different information, we can use different metheds such as acccl-cration fedback methed or fuzzy method to realize the control to the vibration of a single flexible manipulator The result is given.