| 柔性冗余度机器人振动分析与抑制 |
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| 引用本文： | 何广平,陆震.柔性冗余度机器人振动分析与抑制[J].北京航空航天大学学报,1997,23(3):385-389. |
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| 作者姓名： | 何广平 陆震 |
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| 作者单位： | 北京航空航天大学机电工程系 |
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| 摘 要： | 从理论上分析了利用冗余芳机器人的“自运动”克服其结构柔性引起的机器人臂末端振动的可能性及实际应用的方法,仿真结果证明了可行性。
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| 关 键 词： | 冗余度 机器人 振动 柔性 振动抑制 |
VIBRATION ANALYSIS AND SUPPRESSION OF REDUNDANT ROBOT ARM WITH END LINK AND JOINT FLEXIBLE |
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| He Guangping\ \ Lu Zhen.VIBRATION ANALYSIS AND SUPPRESSION OF REDUNDANT ROBOT ARM WITH END LINK AND JOINT FLEXIBLE[J].Journal of Beijing University of Aeronautics and Astronautics,1997,23(3):385-389. |
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| Authors: | He Guangping\ \ Lu Zhen |
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| Abstract: | Analysised the possibility of using the "self action" of redundant robot to reducing the vibration of the end point of robot arm which results from the elastic of the end link and end joint of robot arm, and gives the method of using it in practice. Simulation results verifies that the method given in this paper is successful. |
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| Keywords: | redundancy robots vibration flexibility |
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