Modelling and control of a three degree of freedom manipulator with two flexible links
Modelling and control of a three degree of freedom manipulator with two flexible links
复制标题
两柔性连杆三自由度机械臂的建模与控制
DOI：
10.1109/cdc.1990.203524
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发表时间：
1990
期刊：
影响因子：
--
通讯作者：
K. Hosoda
中科院分区：
文献类型：
--
作者：
T. Yoshikawa;H. Murakami;K. Hosoda
作者提出了一个模型，这是有用的实时控制的机器人与两个灵活的链接在三维空间中移动。每个环节是通过使用一个三维弹簧/质量模型描述，然后，整个手臂建模，通过连接模型的各个环节，以便处理反馈增益的变化很容易。利用该模型，采用拉格朗日法推导了三维柔性机器人的运动方程和状态方程。结果表明，加速度计附加到弹性链接的提示是足够的观察的状态变量，代表在模型中的灵活性。最后，应用最优调节器理论设计了一个控制器，实验结果表明，所提出的控制器可以抑制振动的手臂。<<ETX>>
The authors propose a model that is useful for real-time control of a robot with two flexible links moving in three dimensions. Each link is described by using a 3D spring/mass model; then, the whole arm is modeled by connecting the models of the individual links so as to treat change in feedback gain easily. By using this model, the equation of motion and the state equation of a 3D flexible robot are derived with Lagrange's method. It is shown that accelerometers attached to the tips of elastic links are adequate for observing the state variables that represent flexibility in the model. Finally, a controller designed by applying optimal regulator theory is described, and experimental results demonstrate that the proposed controller can suppress vibrations of the arm.<<ETX>>