Study on residual vibration suppression for a flexible dual-manipulator
Study on residual vibration suppression for a flexible dual-manipulator
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DOI：
10.1109/med.2012.6265658
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发表时间：
2012-07
期刊：
影响因子：
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通讯作者：
A. Abe;K. Yoshida
中科院分区：
文献类型：
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作者：
A. Abe;K. Yoshida
本文提出了一种抑制柔性双机械臂残余振动的前馈控制方法。为了准确地建立机械手系统的数学模型，对运动方程的参数进行了实验辨识。在控制技术中，我们用三次样条函数来表示关节角，然后用粒子群算法来寻找最优路径，这样得到的最优路径具有最小的振动要求。通过沿最优路径沿着旋转关节角度，实现了柔性双机械臂残余振动的抑制，仿真和实验结果验证了所提振动控制方案的正确性和有效性。
This paper presents a feedforward control technique for suppressing residual vibrations of a flexible dual-manipulator. To construct the mathematical model of the manipulator system accurately, the parameters of the equations of motion are experimentally identified. In the control technique, we express the joint angle by a cubic spline function, and then use a particle swarm optimization to find an optimal path. The optimal path thus obtained carries a minimum vibration requirement. The suppression of the residual vibrations of the flexible dual-manipulator can be accomplished by rotating the joint angle along the optimal path. The validity and effectiveness of the proposed vibration control scheme is substantiated by simulation and experimental results.