摘要
在柔性机器人末端执行器的轨道跟踪控制中，其逆运动学与振动抑制是两个非常重要的问题．基于对象的低阶振动运动模型提出了一种选代型逆运动学数值解法，同时分析了解法的稳定性．给出的振动抑制法是将杆件振动的高频位置信息反馈给关节角速度．此法因不需检测杆件振动速度而简便实用．为提高末端执行器轨道跟踪性能，从系统自由运动开始的轨道末端点起导入了振动抑制控制．
Inverse kinematics and vibration suppression are of great importance in the end-effector' s trajectory tracking of a flexible robot. In this paper, an iteration numerical method for solving the inverse kinematics problem is presented based on the lower-mode vibration model. Stability of the method is also analyzed and a practical active vibration control approach that feed only vibration position to joint angular velocity is proud. To improve the trajectory tracking performance, vibration control is added to joint angle tracking control form the end-point of the trajectory.
出处
《哈尔滨工业大学学报》
EI
CAS
CSCD
北大核心
1999年第3期107-110,共4页
Journal of Harbin Institute of Technology
