| 冗余度柔性机器人动态响应主动控制 |
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| 引用本文： | 宋轶民,余跃庆,张策.冗余度柔性机器人动态响应主动控制[J].中国航空学报,2002,15(2):109-114. |
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| 作者姓名： | 宋轶民 余跃庆 张策 |
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| 作者单位： | SONG Yi min 1，YU Yue qing 2，ZHANG Ce 1 (1.School of Mechanical Engineering，Tianjin University，Tianjin 300072，China) (2.School of Mechanical Engineering，Beijing Polytechnic University，Beijing 100022，China) |
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| 基金项目： | National Natural Science F oundation of China(5 9975 0 0 1) |
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| 摘 要： | 研究了具有压电作动器与应变传感器的冗余度柔性机器人的振动主动控制问题。建立了该离散时变动力学系统的状态空间表达式。根据离散量小值原理设计了LQR最优控制律，并提出了一种状态估计的近似方法。平面3R冗余度柔性机器人的仿真算例表明，采用这种主动控制方法可使冗余度柔性机器人的动力学特性得到显改善。
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| 关 键 词： | 柔性机器人 冗余度机器人 振动 主动控制 机敏材料 动态响应 |
Active Control of Elastodynamic Response of Flexible Redundant Robot Manipulators |
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| SONG Yi min ,YU Yue qing ,ZHANG Ce.Active Control of Elastodynamic Response of Flexible Redundant Robot Manipulators[J].Chinese Journal of Aeronautics,2002,15(2):109-114. |
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| Authors: | SONG Yi min YU Yue qing ZHANG Ce |
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| Institution: | SONG Yi min 1,YU Yue qing 2,ZHANG Ce 1 |
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| Abstract: | This paper presents an analytical investigation into active vibration control of flexible redundant robot manipulators featuring piezoelectric actuators and strain gage sensors. The state space expression of the discrete time varying dynamic system is developed firstly. The LQR optimal control law is presented based upon the discrete Minimum Principle. Moreover, an approximate method is proposed for estimating the state information of the system. Finally, a planar 3R flexible redundant manipulator is utilized as an illustration example. The simulation results show that the dynamic performance of the manipulator has been improved significantly. \{ |
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| Keywords: | flexible manipulators \} redundant manipulators vibration active control smart materials |
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