机器人Issue(5)：552-559,575,9.DOI:10.13973/j.cnki.robot.2014.0552
智能柔性机械臂的建模和振动主动控制研究
Modeling and Active Vibration Control of an Intelligent Flexible Manipulator System
摘要
Abstract
The dynamic model of an intelligent flexible manipulator system, which consists of a sevo-motor, a harmonic gear reducer, a flexible manipulator and a couple of PZT (piezoelectric) actuators, is derived using the assumed mode method and Hamilton’s principle. In order to improve system precision and to suppress elastic vibration of the flexible manipulator rapidly, a composite strategy combing the PD (proportional derivative) controller applied to servo-motor and fuzzy controller applied to PZT actuators, is presented. After some numerical simulations, the experimental system of the intelligent flexible manipulator system is designed and set up. Both the simulation and comparative experimental results verify that the presented strategy is practicable. The PD control algorithm can improve position precision of the sevo-motor in system motion control, and the fuzzy control algorithm can reduce elastic vibration of the flexible manipulator through PZT actuators. The exper-imental results show that the vibration damping of the manipulator is reduced to 3.5 s from 6.5 s. So the proposed control strategy can improve position precision of the flexible manipulator’s end-effector and enhance operating efficiency of the system.关键词
智能柔性机械臂/振动主动控制/模糊控制/压电致动器Key words
intelligent flexible manipulator/active vibration control/fuzzy control/PZT (piezoelectric) actuator分类
信息技术与安全科学引用本文复制引用
娄军强,魏燕定,杨依领,谢锋然,赵晓伟..智能柔性机械臂的建模和振动主动控制研究[J].机器人,2014,(5):552-559,575,9.基金项目
国家自然科学基金资助项目（51375433）；浙江省自然科学基金资助项目（LY13E050008）；浙江省教育厅科研项目（Y201430447）． （）
