摘要
This paper presents an analytical investigation into activevibration control of flexible redundant robot manipulators featuringpiezoelectric actuators and strain gage sensors. The state-sp- aceexpression of the discrete time-varying dynamic system is developedfirstly. The LQR optimal control law is presented based upon thediscrete Minimum Principle. Moreover, an approximate method isproposed for estimating the state information of the system. Finally,a planar 3R flexible redundant manipulator is utilized as anillustration example. The simulation results show that the dy- namicperformance of the manipulator has been improved significantly.
This paper presents an analytical investigation into activevibration control of flexible redundant robot manipulators featuringpiezoelectric actuators and strain gage sensors. The state-sp- aceexpression of the discrete time-varying dynamic system is developedfirstly. The LQR optimal control law is presented based upon thediscrete Minimum Principle. Moreover, an approximate method isproposed for estimating the state information of the system. Finally,a planar 3R flexible redundant manipulator is utilized as anillustration example. The simulation results show that the dy- namicperformance of the manipulator has been improved significantly.
基金
National Natural Science F oundation of China(5 9975 0 0 1)
