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- Title
全弹性平面运动机器人的高精度运动控制和 振动抑制算法研究.
- Authors
付晓东; 陈力
- Abstract
In order to achieve precise motion control and multiple vibration suppression of a space robot with elastic bases. flexiblejoints and fexiblelinks. a space robot with fully elastic base. joints and links are established. The finite dimension PD repetitive learning control and vibration synchronous control scheme are used to control the system. Combined with Linear springs, torsion springs Euler-Bernoulli beam theory, using modal method. momentum conservation laws and Lagrange method. the dynamic equations of the space robot with a flexiblebase two flexiblelinks and two flexiblejoints are established.. System variables are decomposed on two different time scales using singular perturbation technology. Improved PD repetitive algorithm is used to control robot motion and suppress links vibration in the slow time scale. Then. the vibration of the flexible base and the two joints are suppressed with the linear quadratic optimal control method in a fast time scale. The main controller is composed of slow and fast sub-controllers. Numerical simulation results verify the effectiveness of the algorithm.
- Publication
Chinese Journal of Computational Mechanics / Jisuan Lixue Xuebao, 2021, Vol 38, Issue 2, p199
- ISSN
1007-4708
- Publication type
Article
- DOI
10.7511/jslx20200629001