摘要
在柔性机械手的研究中,如何在实现定位目标的同时快速消除振动,是控制研究中的一个主要问题。本文首先对柔性机械手加速度反馈消振的理论基础进行了研究,讨论了该方法对系统稳定性和耗散性的影响,进而探讨了加速度反馈在单连杆柔性机械手控制中的实现问题,给出了加速度反馈的实验结果。实验证明,它可以有效地抑制柔性振动。
In the research field of flexible robot arms,it is an important problem in the implementation of control to smooth the flexible vibration quickly in the mean time of fixing position of target . This paper first studies the theory of acceleration feedback control to smooth the vibration,discussing the influence of this method on the stability and dissipation of system,and then approaches the implementation of the theory in a flexible singlelink flexible robot arms. The experimental results are given .The result has indicated that this method can restrain the flexible vibration effectively.
出处
《青岛大学学报（工程技术版）》
CAS
2002年第4期16-19,共4页
Journal of Qingdao University(Engineering & Technology Edition)
关键词
柔性臂
加速度反馈
振动抑制
flexible manipulator
acceleration feedback
restraining vibration
