摘要
研究了柔性冗余度机器人随机振动主动控制问题。设计了具有压电作动器与应变传感器的机敏连杆 ,建立了该离散时变动态系统的状态空间表达式。根据最优控制理论 ,设计了基于 Kalman滤波估计的 LQG状态反馈控制器。以平面 3R柔性冗余度机器人为例进行了计算机仿真 ,其结果证明了这种主动控制方法的有效性。
A methodology for reducing the stochastic dynamic response of flexible redundant manipulators is presented.The smart links are fabricated from flexible links to which are attached piezoceramic actuators and strain gage sensors.A state-space expression of the discrete time-varying dynamic system is developed firstly.The optimal control scheme is presented,which includes a LQG feedback control law and a Kalman filter.Finally,a planar 3R flexible redundant manipulator is utilized as an illustration example.The simulation results reveal that the stochastic dynamic response of the manipulator has been suppressed greatly.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2002年第16期1407-1410,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
