柔性冗余度机器人振动主动控制系统特性分析  

Characteristics analysis on active control system for the vibration of flexible redundancy robot

作　　者：宋轶民[1] 王建军[1] 张策[1] 余跃庆[2] 

机构地区：[1]天津大学机械工程学院,天津300072 [2]北京工业大学机电学院,北京100022

出　　处：《机械设计》2005年第5期7-9,共3页Journal of Machine Design

基　　金：国家自然科学基金资助项目(59975001)

摘　　要：研究了基于机敏材料的柔性冗余度机器人振动主动控制系统的可控性与可观性。建立了受控系统的状态空间表达式,提出了离散时变系统的可控性与可观性分析的简化判据,为设计状态反馈控制器与状态观测器以改善柔性冗余度机器人的动力学品质奠定了基础。最后,以具有一个位置冗余度的平面3R柔性机器人为例,进行了计算机仿真。The controllability and observability of active control system for the vibration of flexible redundancy robot based on smart and resourceful materials had been studied. The state-space expression of the system being controlled was established, and the controllability of discrete time-varying system and the simplified criteria of observability analysis were put forward. Thus laid a foundation for the design of the state feedback controller and the state observer so as to improve the dynamics quality of flexible redundancy robot. Finally, the computer simulation by taking a planar 3R flexible robot with one positional redundancy as an example was carried out.

关 键 词：柔性冗余度机器人 振动主动控制 可控性 可观性 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]