【摘要】 研究了在垂直平面内双连杆柔性机械臂的轨迹跟踪控制问题。基于假设模态法，导出了双连杆柔性机械臂系统的动力学方程，给出了轨迹跟踪控制的补偿控制方法。设计了以微机为核心的柔性臂系统实验台。最后，通过实验台对提出的控制方法进行了实验研究。更多还原

【Abstract】 A method for trajectory tracking of two - link flexible manipulator is presented. On the base of as- sumed mode, the dynamic equation of the two - link flexible manipulator has been developed and the compensating control method for trajectory tracking has been taken. The experimental station of flexible manipulator has been designed . At last, experimental research has been performed in the experimental seation by using the method of this paper .更多还原