Vibration Controllability of 3D Flexible Manipulators
Vibration Controllability of 3D Flexible Manipulators
复制标题
3D柔性机械手的振动可控性
DOI：
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发表时间：
1997
期刊：
影响因子：
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通讯作者：
M. Uchiyama
中科院分区：
文献类型：
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作者：
S. López;A. Konno;M. Uchiyama
柔性机器人的结构振动并不总是在所有工作空间中完全可控。在某些情况下，存在致动器不能影响某些振动模式的配置，因此不能控制它们的振动。在单连杆和两连杆平面机械臂的情况下，这个问题被忽略了；然而，在尝试控制 3D 柔性机器人时必须深入处理它。本文讨论了柔性机械臂的振动可控性。振动不可控配置通过可控性矩阵的最小奇异值和闭环行为来估计。以2连杆3关节原型柔性机械臂为例进行了案例研究，发现了机械臂的不可控构型。
Structural vibrations of flexible robots are not always fully controllable in all the workspace. In some cases, there exist configurations where the actuators cannot affect some of the vibration modes, and thus cannot control their vibrations. This problem has been neglected in the case of the one-link and two-link planar manipulators; however, it must be dealt with in depth when trying to control a 3D flexible robot. This paper discusses the vibration controllability of flexible manipulators. Vibration uncontrollable configurations are estimated both by the minimum singular values of the controllability matrix and the closed-loop behavior. A 2-link 3-joint prototype flexible manipulator is used for a case study, and the uncontrollable configurations of the manipulator are found.