压电陶瓷驱动器在机器人柔性臂应用中的研究

研究了片状压电陶瓷驱动器在柔性手臂中的应用，推导了基本压电陶瓷驱动器的柔性臂静力学方程，建立了描述驱动器迟滞特性的Ｐｒｅｉｓａｃｈ模型，提出了一种基于Ｐｒｅｉｓａｃｈ前钏环的ＰＩＤ掏方法对柔性夺动主动控制和轨迹控制俞中以有效地克服片状压电陶瓷驱动器的迟滞特性，消除柔性臂运动产生的振动，实现柔性臂的精度轨迹控制。

The Research of Flexible Manipulator Driven by Piezoelectric Actuators

The paper studies the use of piezoelectric actuator in the flexible manipulator, and the statics equation and Preisach model of describing the nonlinear hysteresis of piezoelectric actuator are discussed. The paper presents a tracking control and vibration active control approach for piezoelectric actuator based on incorporating a feedward loop with PID feedback controller. The results show that the approach can overcome the nonlinear hysteresis of piezoelectric actuator and the vibration of flexible manipulator and get high tracking control accuracy.