欢迎您！东篱公司
退出
-
申报数据库
-
立项数据库
-
成果数据库
-
项目获奖数据库
中文摘要：
对柔性双连杆机械臂位置的主动控制进行研究，给出系统的动力学方程，采用非线性解耦反馈控制方法分别得出系统大范围运动方程和柔性臂的动力学方程，并采用机械臂逆动力学方法和LQR方法分别设计大范围运动控制律和压电作动器控制律．仿真结果表明，该控制方法能够有效地控制机械臂到达的指定位置，并且抑制柔性臂的弹性振动．
英文摘要：
Active position control of two-link flexible manipulator was studied using PZT actuators. The dynamic equation of the system is presented using the Lagrange principle. Then the large overall motion equation and the equation of the two flexible links are obtained using the nonlinear decoupling feedback control method. Finally, the controllers of joint torque of the PZT actuators are designed using the inverse dynamic method and the LQR method, respectively. The simulation results indicate that the desired position of system may be achieved by the proposed controller. The residual vibration of the two links may be suppressed by this controller as well.
同期刊论文项目
同项目期刊论文
期刊信息
位置：