摘要
在柔性机械手的控制中，加速度反馈的方法是一种消除末端振动的有效而简便途径．然而，目前对其有效性尚无严格的理论证明和分析．本文将通过非约束模态分析方法对单柔性臂机械手的动力学方程进行分析，以此为基础对加速度反馈的理论和实现进行研究和讨论，得到了一些重要的结论．
In the control of flexible manipulators,the acceleration feedback is proven ot be an effective and easily implementable method to alleviate vibration.So far, however, there is no strict theoretical proof with regard to its effectiveness. Inthis paper, the analysis of the dynamic equations of a single-link flexible manipulator is presented using the unconstrained modalanalysis method,then the theory and implementation of the acceleration feedback are investig are investigated and discussed. Some important conclusions are drawn.
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
1999年第4期553-557,共5页
Control Theory & Applications
关键词
柔性机械手
加速度反馈
振动
稳定性
flexible manipulators
acceleration feedback
vibration
stability
