柔性冗余度机器人振动控制的一种方法

对于柔性机器人而言,如何尽快抑制其结构柔性所引起的振动是十分重要的.本文对柔性冗余度机器人振动的控制问题的原理与策略进行了研究.把阻尼的主动控制思想应用于机器人振动的控制中,并给出了相应的最优控制方法.这种方法通过优化机器人的自运动实现外部能量的输入以提高系统的阻尼,使振动迅速衰减.此外,对这种控制方法的实现进行了讨论.最后对一个末杆为柔杆的平面三杆机械手振动的控制进行了仿真,结果验证了方法的有效性.

Method for Vibration Control of Flexible Redundant Manipulators

For a flexible manipulator, how to eliminate vibration caused by the structural flexibility as soon as possible is very important. In this paper, the theory and strategy of vibration control for flexible redundant manipulators are studied. The idea of active damping control is used to suppress vibration and the corresponding optimal control method is proposed. This method can enhance the damping of the manipulator system by means of optimizing the self motion of links to input external energy, so as to damp the vibration quickly. Furthermore, the implement of this method is discussed. Finally, with this control method, simulations of the vibration control of a planar three link manipulator with the last link flexible are carried out. The simulation results demonstrate its feasibility.