小型机械臂对大型柔性机械臂的振动控制

1989 American Control Conference Pub Date : 1989-06-21 DOI:10.23919/ACC.1989.4790404

W. Book, S. Lee

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引用次数: 43

摘要

大型柔性机械臂的振动是由位于其末端的小臂关节力矩所产生的惯性力所抑制的。应用奇异摄动技术建立了小机械臂的慢速子模型和快速子模型，研究了小机械臂的控制。设计了一种复合控制器来控制慢速运动和快速运动。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Vibration Control of a Large Flexible Manipulator by a Small Robotic Arm

The vibration of a large flexible manipulator is suppressed by inertial forces induced by the joint torques of a small arm which is located at the tip of the large manipulator. The control of the small arm is studied based on a slow and fast submodel which are derived by applying the singular perturbation technique. A composite controller is designed to control the slow and fast motion.

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1989 American Control Conference

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