摘要
柔性机器人在航天及核工业领域有广阔的应用前景。提出了用加速度优化的方法获得柔性臂的最佳运行控制信号并控制其运动 ,从而消除其运动终止时的残余振动的思想。通过理论推导得到残余振动计算公式 ,采用网格法对其进行优化。仿真和试验结果证明了此方法的有效性。
Flexible robots are widely used in aerospace exploitation and nuclear engineering The control of residual vibration of flexible arm by using acceleration optimization method is delt with The formula of calculating residual vibration as well as the robust control conditions, safety conditions, and reliability conditions are proposed Mesh optimization is adopted as the optimum calculation method Both simulation and experiment results show the efficiency of the method on the controlling of residual vibration of flexible arms
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2001年第8期10-13,共4页
Journal of Mechanical Engineering
基金
国家自然科学基金 ( 5 95 85 0 0 3
5 9885 0 0 2 )
国家 86 3计划 ( 86 3-2 -5 -1-2 )
国家教育部博士点基金资助项目
