【摘要】 研究了柔性机器人末端振动的抑制控制问题 ,方法是将机器人动力学方程进行分解 ,再将分解得到的柔性振动动力学方程写成状态空间的形式 ,根据复模态分析的原理对其进行分析 ,利用柔性冗余度机器人具有的自运动优化能力 ,提出了一种自运动优化选择的复模态法。该方法通过自运动的优化选择在复模态空间中零化低阶模态的激励力 ,以实现对机器人末端振动的抑制。针对一个末杆为柔性杆的 3维 4自由度机器人进行了控制仿真 ,仿真同时对比使用了其它 2种同类方法。仿真结果验证了本方法的有效性 ,并显示复模态法取得了比其它同类方法好很多的末端振动抑制效果更多还原

【Abstract】 The vibration suppression problem of flexible robot manipulators was considered. Firstly, the dynamic functions of the robot were decomposed into two parts and the part of flexible vibration dynamics was translated into state space format. Then through analysis according to the plural mode analyze principle, a plural mode approach to vibration suppression was proposed. The proposed approach realizes vibration suppression of robot tip through utilizing the self-motion capability of flexible redundant robot to nullify the low rank modal exiting force.Finally, the availability and effectiveness of the proposed approach have been demonstrated through numerical simulation with a four-link spatial robotic manipulator possessing an end flexible link. The result verifies that the proposed approach yields great less vibration amplitude of robot tip than that of two other homogeneous approaches.更多还原