柔性臂机器人控制算法综述  

A survey of control algorithms for flexible link manipulators

作　　者：戴学丰[1] 孙立宁[1] 刘品宽[1] 蔡鹤皋[1] 

机构地区：[1]哈尔滨工业大学机器人研究所,黑龙江哈尔滨150001

出　　处：《电机与控制学报》2002年第2期158-161,共4页Electric Machines and Control

基　　金：高等学校博士点科研基金资助项目(2000021323);高等学校骨干教师资助计划(No.1043)

摘　　要：柔性臂具有质量轻、惯性小和能耗低等优点,是替代笨重刚性机械臂的理想选择。由于柔性臂在运动时要产生振动,因此对其控制算法的研究显得十分重要。本文以多连杆柔性臂为主,对柔性臂机械手关节控制的各种方法进行了系统地综述,内容涉及由经典PID算法到无模型智能控制的控制理论的各个分支;并介绍了如何在关节控制的同时减小振动的措施。Being light weighted, less inertia and energy efficient, flexible link manipulators were preferred to substitute bulky rigid ones. Since the vibration induced by joint motion, the controls to realize desired performance meanwhile to suppress flexure's side effects take a critical role in the closed-loop system. Based on multi-link flexible manipulator, a variety of control algorithms for flexible link manipulators were summarized. The survey progressed from the simplest PID to the most advanced intelligent approach and covered almost each branch of control theory. In addition, the means dealing with chattering when conducting joint control is discussed too.

关 键 词：柔性臂机器人 控制算法 轨迹控制 振动控制 建模 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]