摘要
研究机器人柔性机械臂末端残留振动的抑制,给出两自由度柔性臂的动力学方程设计了最优输入整形器,并将其应用到柔性臂的运动,抑制柔性臂末端残留振动,通过实验对比与分析,结果表明最优输入整形能够有效地抑制机械臂末端的残留振动,且引入系统的时滞时间更短。
Based on Vibration-suppression of robot flexible manipulator end control theory,dynamic equation of 2R Flexible Manipulator was built.The optimal input shaper has been designed,then applied in the flexible manipulator to compress the vibration induced,through comparison and analysis of experiments,the results demonstrated that the control method can effectively suppress the residual vibration of the flexible manipulator,to reach the specified location,and the introduced delay time of the system is even shorter.
出处
《组合机床与自动化加工技术》
北大核心
2012年第5期6-8,12,共4页
Modular Machine Tool & Automatic Manufacturing Technique
基金
国家高新技术研究发展(863)计划项目(2006AA04Z208)
关键词
柔性机械臂
残留振动
最优输入整形
flexible manipulator
residual vibration
optimal input shaping
