机械科学与技术2012，Vol.31Issue(8)：1369-1372,1376,5.
基于轨迹规划方法的单连杆柔性臂振动抑制
Vibration Suppression of a One-link Flexible Arm Using Trajectory Planning Method
李光 1刘领化1
作者信息
- 1. 湖南工业大学机械工程学院,株洲421008
- 折叠
摘要
Abstract
The vibration control strategy is presented in this paper for a one-link flexible robot arm using trajectory planning. Considering the linearized first-order vibration motion equation, zero initial states and zero residual vibration, the piecewise designed flexural motion of the flexible link endpoint is calculated at first. Then, the acceleration-constant speed-deceleration rigid joint angle trajectory of the link is obtained with constraint conditions. Finally, the input torque of the flexible manipulator for tracking presented designed joint trajectory is achieved applying the PD controller. The numerical simulations are carried out to demonstrate the control performances and effectiveness of the proposed method.关键词
柔性机械臂/振动抑制/轨迹规划Key words
flexible arm/vibration reduction/trajectory planning分类
信息技术与安全科学引用本文复制引用
李光,刘领化..基于轨迹规划方法的单连杆柔性臂振动抑制[J].机械科学与技术,2012,31(8):1369-1372,1376,5.
