柔性冗余度机器人振动的分析与控制

应用最优控制理论，对柔性冗余度机器人振动控制问题的原理与策略进行了研究。把主动控制思想应用于机器人振动控制中，提出了控制柔性冗余度机器人振动的一种方法。这种方法通过规划机器人的自运动加快系统振动能量的消耗以实现主动振动控制。此外，通过对满足抑振要求的自运动的选取进行分析，指出柔性冗余度机器人具有二次优化的能力，这对于提高机器人的工作性能是十分重要的。最后通过数值仿真验证了该方法的有效性。

VIBRATION ANALYSIS AND CONTROL OF FLEXIBLE REDUNDANT MANIPULATORS

The theory and strategy of vibration control for flexible redundant manipulators are studied by the optimal control theory. The idea of active control is used to suppress vibration, and a method for suppressing vibration of flexible redundant manipulators is proposed. This method can increase the damping and the stiffness of the flexible redundant manipulator, and on the other hand eliminate the vibration exciting force by means of optimizing the self motions. Thus, the manipulator can use these self motions to quicken the consumption of its vibrational energy while tracing a required trajectory, so as to suppress vibration quickly. Furthermore, by analyzing the selection of the self motions which meet the need of suppressing vibration, it is found that flexible redundant manipulators still have the second optimization capability at the time of suppressing vibration through optimizing the self motions. And this second optimization capability can be used to optimize other objectives on the basis of suppressing vibration, which is very important for flexible redundant manipulators to improve their operational performance. Finally, with this method, some simulations are carried out, and the results demonstrate its feasibility.