双连杆柔性臂轨迹跟踪控制  

A Trajectory Tracking Control Method for Two-Link Flexible Manipulator

作　　者：李元春[1] 唐保健 康健[1] 陆佑方 

机构地区：[1]吉林工业大学

出　　处：《电工技术学报》1997年第6期6-9,共4页Transactions of China Electrotechnical Society

基　　金：国家自然科学基金

摘　　要：研究了在垂直平面内双连杆柔性机械臂的轨迹跟踪控制问题。基于假设模态法，导出了双连杆柔性机械臂系统的动力学方程，给出了轨迹跟踪控制的补偿控制方法。设计了以微机为核心的柔性臂系统实验台。最后，通过实验台对提出的控制方法进行了实验研究。A method for trajectory tracking of two - link flexible manipulator is presented. On the base of as- sumed mode, the dynamic equation of the two - link flexible manipulator has been developed and the compensating control method for trajectory tracking has been taken. The experimental station of flexible manipulator has been designed . At last, experimental research has been performed in the experimental seation by using the method of this paper .

关 键 词：柔性机械手 跟踪 补偿 双连杆 柔性臂 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置]