Control of Flexible Manipulators. Theory and Practice
Control of Flexible Manipulators. Theory and Practice
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柔性机械手的控制。
DOI：
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发表时间：
2010
期刊：
影响因子：
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通讯作者：
V. Feliu
中科院分区：
文献类型：
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作者：
E. Pereira;J. Becedas;I. Payo;F. Ramos;V. Feliu
新颖的机器人应用要求使用少量能量驱动更轻的机器人，例如航空航天工业中的机器人吊臂，需要具有高性能要求（高速操作，更好的精度，高有效载荷/重量比）的轻型机械手（Wang & Gao, 2003）。不幸的是，这些机器人的灵活性导致了连杆尖端的振荡行为，使得精确的指向或尖端定位成为一项艰巨的任务，需要复杂的闭环控制。为了解决控制目标，如尖端位置精度和残余振动的抑制，许多控制技术已应用于柔性机器人（见，例如，调查（benosman&vey, 2004））。有两个主要问题使柔性机械臂的控制设计复杂化，即：(i)系统的高阶，（ii）在尖端位置和输入（关节处施加的扭矩）之间不存在最小相位动力学。此外，近年来在柔性单元中也开始考虑几何非线性问题。本章概述了柔性机械臂的建模和控制，重点介绍了文献中研究最多的单连杆柔性机械臂的主要控制技术的实现。
Novel robotic applications have demanded lighter robots that can be driven using small amounts of energy, for example robotic booms in the aerospace industry, where lightweight manipulators with high performance requirements (high speed operation, better accuracy, high payload/weight ratio) are required (Wang & Gao, 2003). Unfortunately, the flexibility of these robots leads to oscillatory behaviour at the tip of the link, making precise pointing or tip positioning a daunting task that requires complex closed-loop control. In order to address control objectives, such as tip position accuracy and suppression of residual vibration, many control techniques have been applied to flexible robots (see, for instance, the survey (Benosman & Vey, 2004)). There are two main problems that complicate the control design for flexible manipulators viz: (i) the high order of the system, (ii) the no minimum phase dynamics that exists between the tip position and the input (torque applied at the joint). In addition, recently, geometric nonlinearities have been considered in the flexible elements. This chapter gives an overview to the modelling and control of flexible manipulators and focuses in the implementation of the main control techniques for single link flexible manipulators, which is the most studied case in the literature.