消除系统余振的输入函数的鲁棒性研究  

A New Preshaped Input Function with High Robustness for Minimizing Residul vibration of Manipulators

作　　者：王斌[1] 李哲[1] 白师贤[1] 

机构地区：[1]北京工业大学

出　　处：《机械科学与技术》1995年第6期1-6,共6页Mechanical Science and Technology for Aerospace Engineering

摘　　要：可靠性是一切系统生命的保证，人们对规化输入命令消除系统的余振已经做了许多工作，但是所提出的方法对系统模型的精确程度依赖性太强，影响了其推广使用。本文提出了一种新的输入函数，从理论和数值仿真方面进行了研究，证明了这种输入函数具有很高的鲁棒性，这对于将这项技术用于实际生产中具有非常重要的作用。Reliability is the basic assurance to every system,PeOp le have done a great deal of work in the field of preshaping input commands to minunlZe residul vibration of maniputators,but all the methods which have been proposed before rely too lnuch on the precision of the system s model. This default prevents this technique from being extended to be put into real use,This article will propose a new k ind of input function w ith high robustness,then demon-strate it in thoery and simulate result,so it ls very helpful in practical use and guiding use on theory.

关 键 词：鲁棒性 柔性系统 柔性机械臂 可靠性 

分 类 号：TH113.2[机械工程—机械设计及理论]