| 单连杆弹性手臂的振动控制和定位 |
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| 引用本文： | 张念祖,朱汝辉.单连杆弹性手臂的振动控制和定位[J].振动与冲击,1996,15(2):38-42. |
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| 作者姓名： | 张念祖 朱汝辉 |
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| 作者单位： | 上海交通大学自控系 |
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| 摘 要： | 本文介绍了单弹性连杆机器人的模型及控制，通过系统辨识得到系统振动模型，采用分段控制，使单连杆弹性臂起动、制动阶段弹性单连杆的振动得到了有效的抑制，而且做到了精确定位，文章给出了实验结果。
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| 关 键 词： | 振动控制，弹性连杆，机器人 |
VIBRATION AND POSITION CONTROL OF AN ONE-LINK FLEXIBLE ROBOTIC ARM |
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| Zhang Nianzu, Zhu Ruhui,Fan Maoji.VIBRATION AND POSITION CONTROL OF AN ONE-LINK FLEXIBLE ROBOTIC ARM[J].Journal of Vibration and Shock,1996,15(2):38-42. |
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| Authors: | Zhang Nianzu Zhu Ruhui Fan Maoji |
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| Abstract: | In this paper,the model and the control of one-link flexible robotic arm are described. By parameter identification the vibration model of the system is established. A kind of hybrid control is adopted. The vibration of the link during the start and brake process is reduced effectively and the position is controlled accurately. The experimental results presented validate the approach proposted. |
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| Keywords: | vibration control flexible arm robot position |
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