摘要
为了改善冗余度柔性机器人的动力学品质,采用了振动主动控制方法。设计了具有压电作动器与应变传感器的机敏连杆,构造了冗余度柔性机器人振动主动控制系统的状态空间表达式。利用独立模态空间控制理论设计状态反馈控制器,获得了压电作动器的实际控制电压,并根据连杆中点的应变信号对系统状态进行了近似估计。最后,以平面3R冗余度柔性机器人为例进行了计算机仿真,其结果证明了这种振动主动控制方法的有效性。
In order to improve dynamic performance of flexible redundant manipulators, the active vibration control method is employed. The smart links are synthesized with the flexible links to which are bonded piezoelectric actuators and strain gage sensors. The state-space expression of the active vibration control system is developed firstly. Based on the independent modal space control theory (IMSC), the state feedback controller is designed and the actual control voltage imposed on the piezoelectric actuators is calculated. Moreover, the state information of the system is estimated with resort to the strain signals measured at mid-span locations of the flexible links. Finally, a planar 3R flexible redundant manipulator is utilized as an evaluation example. The simulation results prove the validity of this method.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2003年第1期123-127,共5页
Journal of Mechanical Engineering
基金
国家自然科学基金(59975001)
中国博士后科学基金资助项目
