柔性冗余度机器人考虑抑振的力矩优化算法  

An Algorithm of Torque Optimization for Flexible Redundant Manipulators with Considering Vibration Suppression

作　　者：高志慧[1] 员超[1] 边宇枢[2] 

机构地区：[1]北京航空航天大学机器人研究所 [2]北京航空航天大学机械设计及自动化系

出　　处：《中国机械工程》2003年第4期329-332,共4页China Mechanical Engineering

基　　金：国家自然科学基金资助项目 (50 0 750 0 8);国家 863高技术研究发展计划资助项目 (863 - 2 0 0 1 AA42 1 2 0 0 )

摘　　要：利用拉格朗日乘子法对柔性冗余度机器人考虑抑振的关节力矩优化进行了研究。应用模态理论研究了柔性冗余度机器人振动控制的原理 ,分析了自运动对机器人振动的影响 ,把主动控制思想应用于柔性冗余度机器人振动的控制中 ,通过规划自运动构造出合适的模态控制力对机器人的振动进行主动抑制。在此基础上利用拉格朗日乘子法 ,提出了一种在满足抑振的同时进行机器人关节力矩优化的方法。Joint-torques optimization for flexible redundant manipulators with considering vibration suppression is studied by using Lagrangian multiplier method. The theory of vibration control for flexible redundant manipulators is studied by using the modal theory, and the influence of the flexible redundant manipulator's self-motions on its vibration is analyzed. The idea of active control is used to suppress vibration, and as a result the flexible redundant manipulator's vibration can be suppressed by exerting a proper form of modal control force which is constructed by planning its self-motions. On the basis of above, a method for both suppressing vibration and optimizing joint-torques is proposed by using Lagrangian multiplier method. The results of some numerical simulations verify the effectiveness of the proposed method.

关 键 词：柔性冗余度机器人 力矩优化 振动 主动控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]