柔性臂机器人控制关键技术的研究进展

Research Progress on the Key Control Techniques of Flexible Manipulators

满足高速、轻质要求的柔性臂机器人是近年来的研究热点。根据结构特征将柔性臂机器人分成三种类型:柔性杆件机器人、柔性关节机器人及综合柔性杆件和柔性关节特点的混合柔性机器人。围绕近年来这三类机器人在动力学建模和控制策略上的进展及研究成果,对柔性臂机器人控制的关键技术进行了概括和阐述。

High-speed, lightweight flexible manipulators have been a research hotspot in recent years. Based on the structural characteristics, the flexible manipulators can be divided into three types： flexible links robot, flexible joint robot, mixed flexible robot which integrated the features of the previous two types. Around the research progress on dynamic modeling and control strategy for the three types of robots in recent years, this paper presents a summary of the key control techniques of flexible manipulators.