冗余度柔性机器人复模态振动主动控制  

Complex Mode Active Vibration Control of Flexible Redundant Manipulators

作　　者：宋轶民[1] 张永新[1] 张策[1] 余跃庆[2] 

机构地区：[1]天津大学机械工程学院,天津300072 [2]北京工业大学机械工程与应用电子技术学院,北京100022

出　　处：《中国机械工程》2004年第6期546-548,560,共4页China Mechanical Engineering

基　　金：国家自然科学基金资助项目 (5 9975 0 0 1);中国博士后科学基金资助项目

摘　　要：研究了具有压电作动器与应变传感器的冗余度柔性机器人的振动主动控制问题 ;建立了受控系统的状态空间表达式 ;获得了压电作动器的实际控制电压 ,并根据连杆中点的应变信号对受控系统的状态进行了近似估计。仿真算例表明 ,该方法可以显著改善受控系统的动力学性能。An active vibration control methodology was investigated for flexible redundant manipulators featuring piezoceramic actuators and strain gage sensors. The dynamic equation of manipulators derived by the Hamilton principle was decoupled by utilizing the complex mode theory and the state-space expression of the controlled system was developed. Based on the Independent Modal Space Control theory and the Minimum principle, a continuous LQR state-feedback controller was designed and the actual control voltage imposed on the piezoceramic actuators was calculated. Moreover, the state estimate of the controlled system was achieved through the strain signals measured at mid-span locations of the flexible links. As an illustrative instance, the proposed strategy was utilized to control a planar 3R flexible redundant manipulator. The simulation results reveal that the dynamic response of the system was significantly suppressed.

关 键 词：柔性机器人 冗余度 振动主动控制 机敏材料 复模态 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]