欠驱动柔性机器人的振动可控性分析  

Vibration Controllability of Underactuated Flexible Manipulator

作　　者：陈炜[1] 余跃庆[1] 张绪平[1] 苏丽颖[1] 

机构地区：[1]北京工业大学机械工程与应用电子技术学院

出　　处：《自动化学报》2007年第4期391-398,共8页Acta Automatica Sinica

基　　金：国家自然科学基金(50575002);北京市自然科学基金(3062004);北京市科技新星B类(2003B04)项目;北京市属市管高等学校人才强教计划;北京市教委科技发展计划(KM200610005003)资助~~

摘　　要：欠驱动柔性机器人的可控性分析是对其进行有效控制的关键问题．本文以具有柔性杆的3DOF平面欠驱动机器人为例,分两步分析系统的可控性．首先,忽略杆件的弹性变形,研究欠驱动刚性系统在不同驱动电机位置的状态可控性;然后,考虑柔性因素,研究欠驱动柔性系统的结构振动可控性．结果表明振动可控性是随机器人关节位形和驱动电机位置而变化的,并且欠驱动刚性机器人的状态可控性对相应的柔性系统的振动可控性有很重要的影响．最后,将上述研究方法扩展到具有一个被动关节的N自由度平面欠驱动柔性机器人．The controllability analysis of underactuated flexible manipulator is a key problem to efficiently control the systems. In this paper, a 3DOF underactuated planar manipulator with flexible links is taken an example and its controllable analysis is performed by two steps. Firstly, the state controllability of the rigid systems is investigated at the different actuator placements regardless of the elastic deformations of links. Then, the structural vibration controllability of the flexible system is studied based on the discussion above. It is shown that the vibration controllability of underactuated flexible manipulators is both joint configuration-dependent and actuator placement-dependent. Moreover, the state controllability of underactuated rigid robot has important influence on the vibration controllability of the corresponding flexible system. Finally, the method is extended to underactuated planar flexible manipulators system with N degrees of freedom and one passive joint.

关 键 词：欠驱动 柔性杆 振动可控性 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]