一种非常柔性机器人机械臂反馈控制中的振动抑制技术

2008 Second Asia International Conference on Modelling & Simulation (AMS) Pub Date : 2008-05-13 DOI:10.1109/AMS.2008.58

Mohd Ashraf Ahmad, Z. Mohamed, H. Ishak, A. Nasir

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引用次数: 3

摘要

本文针对动态系统中存在扰动的柔性机械臂，提出了角位置控制方法。本文提出了延迟反馈信号(DFS)和比例导数(PD)控制器来主动控制柔性结构的振动。考虑了平面约束单连杆柔性机械臂，采用假设模态法建立了系统的动力学模型。分别在时域和频域对每种技术的仿真结果进行了完整的分析。从抑制振动和消除干扰两方面对控制器的性能进行了研究。最后，对每个控制器对系统性能的影响进行了比较评估。

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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Vibration Suppression Techniques in Feedback Control of a Very Flexible Robot Manipulator

This paper presents the use of angular position control approaches for a flexible robot manipulator with disturbances effect in the dynamic system. Delayed Feedback Signal (DFS) and Proportional-Derivative (PD) controller are the techniques proposed in this investigation to actively control the vibrations of flexible structure. A constrained planar single-link flexible manipulator is considered and the dynamic model of the system is derived using the assume mode method. A complete analysis of simulation results for each technique is presented in time domain and frequency domain respectively. Performances of the controller are examined in terms of vibration suppression and disturbances cancellation. Finally, a comparative assessment of the impact of each controller on the system performance is presented and discussed.

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2008 Second Asia International Conference on Modelling & Simulation (AMS)

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