柔性机械臂的经典控制设计:建模与控制系统设计

IEEE Journal on Robotics and Automation Pub Date : 1987-10-01 DOI:10.1109/JRA.1987.1087121

J. Ower, J. V. Vegte

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引用次数: 52

摘要

采用拉格朗日动力学方法对由两个柔性连杆和两个旋转关节组成的机械臂的平面运动进行了建模。这些方程是线性化的，用传递函数矩阵表示。在此基础上，采用经典方法设计了多变量控制系统。

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Classical control design for a flexible manipulator: Modeling and control system design

A Lagrangian dynamics approach is used to model the planar motion of a manipulator consisting of two flexible links and two rotary joints. The equations are linearized and represented by a transfer function matrix. In addition a multivariable control system is designed by a technique based on classical methods.

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IEEE Journal on Robotics and Automation

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