摘要
研究柔性冗余度机器人的残余振动主动控制问题。设计了具有压电作动器与应变传感器的机敏杆件 ,建立了受控系统的状态空间表达式。采用独立模态空间控制理论设计 L QR状态反馈控制器 ,并基于对偶原理设计了具有指定收敛特性的 L uenberger全维状态观测器。最后 ,以平面 3R柔性冗余度机器人为例进行了计算机仿真。结果表明 ,采用这种主动控制方法可以显著改善柔性冗余度机器人的动力学品质。
An analytical investigation is presented into active control of residual vibration of flexible redundant manipulators. The smart links are fabricated from flexible links to which piezoceramic actuators and strain gage sensors are attached. The state space expression of the vibration control system is formulated firstly. The LQR state feedback controller is designed based on the Independent Modal Space Control Theory (IMSC). Moreover, a full order Luenberger state observer, featuring an assigned degree of stability, is determined with resort to the Dual System Theory. Finally, a planar 3R flexible redundant manipulator is utilized as an illustration example. The simulation results show that the residual vibration response of the manipulator can be suppressed rapidly and significatly.
出处
《振动工程学报》
EI
CSCD
北大核心
2002年第2期189-193,共5页
Journal of Vibration Engineering
基金
国家自然科学基金 (编号 :5 9975 0 0 1)
中国博士后科学基金资助
关键词
柔性冗余度
机器人
残余振动
主动控制
manipulators
flexibility
redundant
active control
residual vibration
