柔性机器人躲避振动的一种方法

对于柔性机器人而言 ,系统柔性所引起的振动使得机器人很难准确地跟踪预定的末端轨迹 ,因此如何有效地减小柔性机器人的振动是一个非常重要的研究课题。本文对柔性机器人躲避振动的方法进行了研究。首先分析了影响柔性机器人末端振动变形的因素 ,在此基础上得出了在结构参数和末端运动轨迹不变的情况下 ,通过适当调整关节运动参数可以使柔性机器人有效躲避振动的结论 ;然后研究了机器人末端运动参数与关节运动参数之间的关系 ,提出了通过规划机器人末端运动参数从而调整关节运动参数 ,以使机器人能够有效躲避和减小柔性振动的方法 ,并且给出了相应的算法 ;最后通过数值仿真验证了该方法的有效性

A Method for Avoiding Vibration of the Flexible Manipulators

When a manipulator is flexible, it is much more difficult to trace a given end-effector′s trajectory accurately due to the flexural vibration induced by its flexibility. Therefore, how to eliminate vibration effectively is a very important problem. In this paper, a method for avoiding the flexural vibration of the flexible manipulators is presented. Firstly, the factors influencing the end-effector′s vibration of a flexible manipulator are analyzed. On this basis, a conclusion is drawn that a flexible manipulator can avoid the flexural vibration effectively through planning its joint kinematic parameters properly while its structure parameters and end-effector trajectory remain unchanged. Then the relationship between its joint kinematic parameters and end-effector kinematic parameters is studied, and a method for reducing the flexural vibration of a flexible manipulator is proposed. Using this method, the flexural vibration of a flexible manipulator can be avoided effectively and reduced remarkably by planning its end-effector kinematic parameters to adjust its joint kinematic parameters. Furthermore, the corresponding algorithm is presented. Finally, simulations show that the method is feasible.