基于自适应陷波滤波和应变反馈的柔性机械臂二自由度控制

2019 4th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS) Pub Date : 2019-07-01 DOI:10.1109/ACIRS.2019.8935945

M. Sasaki, Ryutaro Miyabe, Waweru Njeri, Kojiro Matsushita

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引用次数: 1

摘要

采用二自由度控制器研究了柔性机械臂三维运动中的振动控制问题。控制器在前馈中采用自适应陷波滤波器，在反馈路径中采用应变反馈控制器。实验结果表明，所提出的振动控制器对柔性机械臂的三维振动控制是有效的。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Two-Degree-of-Freedom Control of Flexible Manipulator Using Adaptive Notch Filter and Strain Feedback

This paper investigates vibration control in 3-dimensional motion of a Flexible manipulator using 2-degree-of-freedom controller. The controller employs an adaptive notch filter in the feedforward and strain feedback controller in the feedback path. Experimental results show that the proposed vibration controller is effective for three-dimensional vibration control of the flexible manipulator.

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来源期刊

2019 4th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS)

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