Active damping control for an underactuated multibody system
Active damping control for an underactuated multibody system
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欠驱动多体系统的主动阻尼控制
DOI：
10.1002/pamm.201510015
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发表时间：
2015
期刊：
影响因子：
--
通讯作者：
Eberhard
中科院分区：
文献类型：
--
作者：
Burkhardt;Morlock;Seifried;Eberhard
轻型机器人和机械手因其良好的重量负载比和低能耗而脱颖而出。不幸的是，轻质设计产生较低的刚度，从而导致不期望的弹性变形，特别是在高速工作运动期间。限制这些不需要的振荡的一种方法可以通过修改命令信号来实现，例如通过输入整形或预先计算的前馈控制。然而，反馈控制概念能够快速补偿由于高速工作运动或在不需要的环境接触以及存在其他外部干扰的情况下产生的弹性变形。在这篇文章中，提出了一种用于具有显着结构弹性的快速移动机械手的主动阻尼控制（ADC）。这种方法不需要额外的执行器，并且适用于表现出结构振动的各种机械手。 （© 2015 Wiley‐VCH Verlag GmbH & Co. KGaA，魏因海姆）
Light‐weight robots and manipulators stand out due to their very good weight‐to‐load ratio and a low energy consumption. Unfortunately, the light‐weight design yields a lower stiffness, which results in undesired elastic deformations, especially during high‐speed working motion. One way to limit these unwanted oscillations can be implemented with modifications of the command signals, e.g. by input shaping or pre‐computed feed‐forward control. However, a feedback control‐concept has the ability to provide a fast compensation of elastic deformations due to high‐speed working motions or in case of unwanted environment contact as well as in the presence of other external disturbances. In this contribution, an active damping control (ADC) for fast moving manipulators with significant structural elasticities is presented. This approach does not require additional actuators and it is suitable for a large variety of manipulators that exhibit structural vibrations. (© 2015 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)