一种机器人柔性臂的振动控制新方法

A new method of controlling the vibration of flexible arm in a robot

针对机器人柔性臂的振动控制问题，本文提出了一种基于模糊控制理论的抑振新方法。仿真结果表明，所提出的方法能有效的抑制柔性臂的振动并且实现简单。

To aim at the vibration control of flexible arm in a robot,this thesis puts forward a new method of restraining vibration based on the theory of fuzzy control.The result of simulation proves that this method can effectively restrain the vibration of robot's flexible arm and come true simply.