柔性变截面滑移式机械手的控制

Control of a moving flexible robot arm with variable sections

研究了柔性变截面滑移式机械手臂的控制。首先，基于有限元法导出系统的动力学方程，然后分别建立了两种控制方式的状态方程：１）以加速度和角加速度作为控制变量：２）以力和力矩作为控制变量。控制过程分为“粗控”和“精控”两步进行。“精控”过程采用线性二次型高斯控制。最后给出了数值模拟的结果。

Control of a flexible robot arm with variable sections is studied. The dynamic equations of the system were derived based on finite element method. Then the state equations were established with two kinds of control variables: 1. those for accelesation and angular acceleration, and 2. those for force and moment. Control is carried out in two steps: rough control and precise control, considering the system noise and measurement noise. The quadratic performance index is used in the precise contsol. Finally, numerical simulation results are given.