机器人操作臂振动的最优控制理论研究  

Optimal-controlling vibrations of a flexible manipulator Lu Jinwei

作　　者：陆金伟[1] 徐卫良[1] 达庆利 

机构地区：[1]东南大学机械系

出　　处：《机械设计》1998年第12期19-21,共3页Journal of Machine Design

基　　金：国家自然科学基金;霍英东青年教师基金

摘　　要：本文就操作臂的末杆在其运动终点的振动控制问题进行了理论研究。首先建立了末杆的力学模型，并用有限元法建立了该模型的动力学方程；然后建立了振动控制问题的框图，并给出了有关的传递函数和脉冲响应函数的表达式；进而建立了振动抑制问题的最优控制的数学模型；最后就该数学模型提出了一种近似解析方法，并给出了一示例。It is reasonable to assume that flexibility of a manipulator mainly results from that of its end link, and so damping vibrations of the end link also approaches to doing for the manipulator. This paper focuses on damping vibrations of the end link of a manipulator at the end of its motion. At first,a mechanics model for the end link is built up and its dynamical equations are formulated by means of finite element method; then control diagrams for the damping, and transfer functions and corresponding impulse responsible functions belonging to the diagrams are presented; furtherly optimal control formula for damping vibrations are developed; and finally an approximate solution to the formula is proposed. All the above are feasible to practise damping vibrations of the end link.

关 键 词：机器人 振动 操作臂 最优控制 数学模型 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TH113.1[自动化与计算机技术—控制科学与工程]