| 双连杆柔性臂轨迹跟踪控制 |
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| 引用本文： | 李元春,唐保健,康健,陆佑方.双连杆柔性臂轨迹跟踪控制[J].电工技术学报,1997(6). |
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| 作者姓名： | 李元春 唐保健 康健 陆佑方 |
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| 作者单位： | 吉林工业大学 |
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| 摘 要： | 研究了在垂直平面内双连杆柔性机械臂的轨迹跟踪控制问题。基于假设模态法，导出了双连杆柔性机械臂系统的动力学方程，给出了轨迹跟踪控制的补偿控制方法。设计了以微机为核心的柔性臂系统实验台。最后，通过实验台对提出的控制方法进行了实验研究。
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| 关 键 词： | 柔性机械手，跟踪，补偿，控制 |
A Trajectory Tracking Control Method for Two-Link Flexible Manipulator |
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| Li Yuanchun Tang Baojian Kang Jian Lu Youfang.A Trajectory Tracking Control Method for Two-Link Flexible Manipulator[J].Transactions of China Electrotechnical Society,1997(6). |
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| Authors: | Li Yuanchun Tang Baojian Kang Jian Lu Youfang |
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| Affiliation: | Jilin University of Technology |
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| Abstract: | A method for trajectory tracking of two - link flexible manipulator is presented. On the base of as- sumed mode, the dynamic equation of the two - link flexible manipulator has been developed and the compensating control method for trajectory tracking has been taken. The experimental station of flexible manipulator has been designed . At last, experimental research has been performed in the experimental seation by using the method of this paper . |
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| Keywords: | : Two - link flexible manipulator Trajectory tracking control control |
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