双连杆混合机械臂的非线性建模与控制

2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI:10.1109/ICARCV.2016.7838809

M. Reyhanoglu, Derek Hoffman, J. D. Wit

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引用次数: 4

摘要

研究了由柔性第一连杆和刚性第二连杆组成的机械臂的回转机动问题。首先用拉格朗日公式推导了非线性动力学模型。在此基础上，引入了一种陷波滤波的有限时间控制律，以实现快速、精确的无残留振动回转操纵。将结果应用于一个基准双连杆系统，并通过仿真实例验证了所提控制技术的有效性。

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Nonlinear modeling and control of a two-link hybrid manipulator

The slew maneuver problem is studied for a robot manipulator consisting of a flexible first link and rigid second link. A nonlinear dynamical model is first derived using a Lagrangian formulation. A notch-filtered finite-time control law is then introduced to achieve fast and precise slewing maneuvers without residual vibrations. The results are applied to a benchmark two-link system and a simulation example is included to illustrate the effectiveness of the proposed control technique.

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来源期刊

2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)

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