带有末端集中质量的双连杆柔性机械臂主动控制  

Active Control for Two-Link Flexible Manipulator with Tip Mass

作　　者：杜欣[1] 蔡国平[1] 

机构地区：[1]上海交通大学,上海200240

出　　处：《应用力学学报》2009年第4期672-678,共7页Chinese Journal of Applied Mechanics

基　　金：国家自然科学基金(10772112;10472065);教育部重点项目(107043);教育部博士点基金(20070248032);上海市教委科研重点项目(09ZZ17);海洋工程国家重点实验室自主研究课题(GKZD010807)

摘　　要：对带有末端集中质量的双连杆柔性机械臂的主动控制进行了研究,给出系统的动力学方程,采用非线性解耦反馈控制方法分别得出系统大范围运动方程和柔性臂的动力学方程,采用机械臂逆动力学方法和LQR方法分别设计大范围运动控制律和压电作动器控制律。仿真结果显示,本文控制方法能够有效地进行机械臂的轨迹跟踪,柔性臂的弹性振动可以得到有效抑制。Active position control of two-link flexible manipulator is investigated. The dynamic equation of the system is presented with Lagrange method. Then the large overall motion equation and the equation of the two flexible links are obtained by nonlinear decoupling feedback control. And the controllers of joint torque and the PZT actuators are designed with inverse dynamic method and LQR method, respectively. The simulation results indicate that the desired position of system may be achieved by the proposed controller, the residual vibration of the two links may be suppressed as well.

关 键 词：双连杆柔性机械臂 压电作动器 主动控制 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]