【摘要】 针对具有两连杆结构的空间机器人,设计了一种压电驱动器来抑制空间机器人柔性臂的扭转振动.采用拉格朗日方程和假设模态法对此机器人系统进行了理论建模,并建立了考虑随机干扰的状态空间表达式,基于随机最优控制理论设计了线性二次型高斯(LQG)状态反馈控制器.仿真结果表明,该主动控制策略能够有效衰减机器人柔性臂的扭转振动,从而提高了末端执行器的定位精度.更多还原

【Abstract】 A space flexible manipulator with two links was proposed, and a novel piezoelectric actuator was designed to suppress the torsional vibration.The Lagrange equation and assumed mode method were used to model the system,and the state-space expression of the stochastic dynamic system was developed.Based on the stochastic optimum control principle,a linear quadratic Gaussian(LQG) state feedback controller was obtained.Experimental simulation shows that this active control strategy can effectively attenuate the torsional vibration of flexible links,and improve the positioning accuracy of the end effector.更多还原