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介绍一种柔性机械手关节角位置控制的方法。通过利用角位置和速度传感器检测的信息,实现对双连杆柔性机械手的控制并给出了实验结果。 相似文献
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参数不确定性柔性机械手控制的一种简单方法 总被引:1,自引:0,他引:1
本文讨论了具有模型不确定性的柔性机械手运动控制问题,给出了一种基于差分方程
和最小二乘法的控制器设计方法.在快速采样的条件下,难于建模的不确定项可以直接忽略
而不影响控制效果.通过一个柔性机械手的仿真表明,本文提出的控制方法可实现柔性机械
手轨迹的准确跟踪,同时能消除柔性机械手的弹性振动. 相似文献
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柔臂的位置控制中,最大的难点是柔性振动的抑制,常规控制方法往往不能同时得到良好的关节跟踪轨迹和对柔性振动的补偿,本文提出了仿人智能变结构控制方法,此方法综合了仿人智能控制与变结构控制的优点,仿真结果表明,这种控制方法能有效的抑制柔性振动,同时具有良好的关节跟踪能力。 相似文献
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对一种新型高速并联机械手,在弹性动力学层面上以系统的动态性能为优化目标对其截面参数进行优
化设计.首先,利用有限元法建立系统的弹性动力学方程.然后,研究分析了系统第一阶固有频率对截面参数的灵
敏度,以便确定设计变量.最后,分别采用了两套优化设计方案对系统进行优化设计.结果表明这两种方案都能满
足设计要求. 相似文献
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基于遗传算法的柔性机械臂的同时优化设计 总被引:3,自引:0,他引:3
针对单连杆柔性机械臂系统,采用同时设计的方法,对包含柔性机械臂结构参数、传感器参数和控制器参数的系统模型进行整体优化设计,改进的遗传算法用于参数的全局寻优.仿真结果显示,优化设计后的单连杆柔性机械臂为变截面梁,可以仅采用简单的控制器(PD控制器)达到减小梁末端振动的效果. 相似文献
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In this study, we consider a boundary control problem of a flexible manipulator with input disturbances and output constraints, achieving pre‐set performance attributes on position tracking error and the deflection error at the end of the beam. The dynamics of the system are represented by partial differential equations (PDEs). With the Lyapunov's direct method, a boundary controller with disturbance observer is designed to regulate the angular position and suppress elastic vibration simultaneously. The proposed control scheme allows the errors to converge to an arbitrarily small residual set, with convergence rate larger than a pre‐specified value. Numerical simulations demonstrate the effectiveness of the proposed scheme. 相似文献
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In this paper, an adaptive fuzzy state feedback control method is proposed for the single-link robotic manipulator system. The considered system contains unknown nonlinear function and actuator saturation. Fuzzy logic systems (FLSs) and a smooth function are used to approximate the unknown nonlinearities and the actuator saturation, respectively. By combining the command-filter technique with the backstepping design algorithm, a novel adaptive fuzzy tracking backstepping control method is developed. It is proved that the adaptive fuzzy control scheme can guarantee that all the variables in the closed-loop system are bounded, and the system output can track the given reference signal as close as possible. Simulation results are provided to illustrate the effectiveness of the proposed approach. 相似文献
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基于奇异摄动将单连杆柔性机械臂动力学模型分解为慢、快变子系统,传统方法分别采用PD控制和最优控制能取得较好控制效果,但负载不确定时,控制效果并不理想.提出对于慢变子系统,采用模糊神经、PD控制相结合的控制方法,对于快变子系统,采用模糊神经、最优控制相结合的控制方法.当负载变化时,采用模糊神经控制器根据实际负载对PD参数及最优控制参数进行调整,达到更优的控制效果.分别采用传统方法及本文提出的改进方法在变负载条件下作了仿真实验,结果表明后者的控制效果明显优于前者.给出了慢、快变子系统模糊神经控制器在变负载条件下训练参数的获取方法. 相似文献
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李善姬 《计算技术与自动化》2005,24(4):16-18
变结构控制系统是一类特殊的非线性控制系统,滑模控制就是其中一种。滑模控制对系统参数及扰动的变化反应迟钝,具有很强的鲁棒性,该类控制方法特别适合于机械臂系统的控制。本文中采用奇异摄动方法将双连杆柔性机械臂系统分解为慢变和快变两个子系统,并对慢变子系统采用滑模控制方法设计了控制器。采用MATLAB进行的数值仿真结果表明了所设计控制器的有效性; 相似文献
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The hybrid control scheme is proposed to stabilize the vibration of a two-link flexible manipulator while the robustness of Variable Structure Control (VSC) developed for rigid manipulators is maintained for controlling the joint angles. The VSC law alone, which is designed to accomplish only the asymptotic decoupled joint angle trajectory tracking, does not guarantee the stability of the flexible mode dynamics of the links. In order to actively suppress the flexible link vibrations, hybrid trajectories for the VSC are generated using the virtual control force concept, so that robust tracking control of the flexible-link manipulator can also be accomplished. Simulation results confirm that the proposed hybrid control scheme can achieve more robust tracking control of two-link flexible manipulator than the conventional control scheme in the presence of payload uncertainty. 相似文献
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A hybrid control scheme is proposed to stabilize the vibration of a two-link flexible manipulator while robustness of Variable Structure Control (VSC) developed for rigid manipulators is maintained for controlling the joint angles. The VSC law alone, which is designed to accomplish only the asymptotic decoupled joint angle trajectory tracking, does not guarantee the stability of the flexible mode dynamics of the links. In order to actively suppress the flexible link vibrations, hybrid trajectories for the VSC are generated using the virtual control force concept, so that robust tracking control of the flexible-link manipulator can also be accomplished. Simulation results confirm that the proposed hybrid control scheme can achieve more robust tracking control of two-link flexible manipulator than the conventional control scheme in the presence of payload uncertainty. 相似文献
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基于压电陶瓷的柔性机器人主动抑振控制策略研究 总被引:1,自引:0,他引:1
柔性机器人因其轻质、高效、低能耗等优点已被广泛应用于航空航天,工业制造等诸多领域。然而,柔性机构易产生弯曲变形,引起系统振动而大大降低机器人的工作精度。为提高柔性机器人的工作性能,多种抑振策略得以研究与应用。提出了基于压电陶瓷(PZT)的柔性机器人振动主动抑制策略。其中,PZT传感器和PZT制动器分别被用来检测和抑制柔性臂的振动。本文构建了基于PZT材料的单自由度柔性机械臂的理论模型,并获得了传感电压与制动电压的传递函数。设计了一个可变控制方案的抑振器以抑制系统在不同频率下的振动。在COMSOL中进行仿真,获得了系统的抑振率。根据仿真结果显示,柔性臂在前三阶振动下,臂的末端位移分别得到了57.04%,57.76%与58.96%的抑制;系统的动能得到了57.95%,71.19%与87.81%的抑制。 相似文献
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Adaptive Iterative Learning Boundary Control of a Flexible Manipulator with Guaranteed Transient Performance 下载免费PDF全文
This paper investigates the iterative learning control (ILC) problem of a flexible manipulator in the presence of external disturbances and output constraints. The dynamic behavior of the flexible manipulator is represented by partial differential equations (PDEs). We propose an ILC law to track the desired trajectory and suppress the vibration of the elastic deflection. The control scheme is based on a prescribed performance bound (PPB) which characterizes the maximum restrictions and convergence rate of the tracking error and deflection error. It is shown that the errors satisfy the prescribed performance bond all the time at any iterations. The established theoretical results are illustrated using numerical simulations for control performance verification. 相似文献
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柔性空间机械臂的闭环方波序列控制 总被引:1,自引:0,他引:1
将“输入成形”方法加以推广,提出一种方波序列控制,并利用幅值调制的思想,提出了一种闭环方波序列控制方法,在保证无余振的前提下,实现了柔性空间机械臂的高精度机动控制,并对系统惯量不确定性具有较强的鲁棒性,理论和仿真结果表明,该方法是有效的。 相似文献