柔性机器人终端振动抑制准时间最优控制

机器人运行速度的提高受到其高的加、减速度所激励的振动的限制。因为手臂的振动降低了手臂到达终点的定位精度,并延长了定位到终点的时间。本文提出了一个用死拍控制规律来提高柔性机器人的运行速度、抑制终端振动及提高定位精度的设计方法,它可提高如航天飞机舱外遥控机械手的定位精度,以及机器人自动化生产的劳动生产率。

Terminal Vibration Suppression and Near Time Optimal Control for Flexible Robot

The primary current limitation in operating speed of robots is the excitation of resonances by high acceleration and deceleration. The arm vibration reduces the accuracy when the arm approaches the desired end position and increases its maneuver time. A method of significantly increasing the operating speed, suppressing the' vibration in a terminal control phase and giving high position accuracy using dead beat control for flexible robot is presented. It can be applied for raising the position accuracy of remote control manipulator in space shuttle and increasing productivity of the plant where robots are widely used.