摘要
本文介绍了单弹性连杆机器人的模型及控制，通过系统辨识得到系统振动模型，采用分段控制，使单连杆弹性臂起动、制动阶段弹性单连杆的振动得到了有效的抑制，而且做到了精确定位，文章给出了实验结果。
In this paper,the model and the control of one-link flexible robotic arm are described. By parameter identification the vibration model of the system is established. A kind of hybrid control is adopted. The vibration of the link during the start and brake process is reduced effectively and the position is controlled accurately. The experimental results presented validate the approach proposted.
出处
《振动与冲击》
EI
CSCD
北大核心
1996年第2期38-42,共5页
Journal of Vibration and Shock
基金
863资助
关键词
振动
控制
弹性连杆
机器人
定位
vibration control,flexible arm,robot,position
