【摘要】 针对单连杆柔性机械臂系统 ,采用同时设计的方法 ,对包含柔性机械臂结构参数、传感器参数和控制器参数的系统模型进行整体优化设计 ,改进的遗传算法用于参数的全局寻优 .仿真结果显示 ,优化设计后的单连杆柔性机械臂为变截面梁 ,可以仅采用简单的控制器 (PD控制器 )达到减小梁末端振动的效果 .更多还原

【Abstract】 Concurrent design method is adopted in this paper to design and integrally optimize a single-link robotic flexible manipulator system,whose mathematical model includes construction parameters,sensor parameters and controller parameters. An improved genetic algorithm(GA) is used for parameter global optimization. Simulation results demonstrate that the optimized manipulator beam is non-uniform cross-section beam. And with simple PD controller,the system shows improved performances of tip vibration suppression.更多还原