Experimental Investigation of a Flexible Manipulator with General Motions

具有一般运动的柔性机械臂的实验研究

• 批准号: 8708835
• 负责人: Gordon Hastings
• 金额: $ 6.94万
• 依托单位: Clemson University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 1987
• 资助国家: 美国
• 起止时间: 1987-06-01 至 1989-11-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=8708835&HistoricalAwards=false
• 关键词: Experimental; Investigation; Flexible; Manipulator; General

The primary goal of the research is to bridge the gap between the growing body of theoretical research and basic knowledge of how flexible systems respond. A general modeling technique based on "assumed modes" is investigated which is general enough to take input from a wide variety of sources. Control laws will be synthesized using classical and modern design approaches to damp the vibrations and precisely control the motions of the flexible system. The technique of "balanced realization" will be investigated as a tool for estimating the required sizes of dynamic models. Simulations and real time experiments will examine the accuracy of the dynamic models and performance of the control strategies.

这项研究的主要目标是弥合 越来越多的理论研究和基本知识， 灵活的系统响应。 一种通用的建模技术， “假设模式”的调查，这是一般性的，足以采取输入 从各种各样的来源。 控制律将使用 古典和现代的设计方法来阻尼振动， 精确控制柔性系统的运动。 技术 “平衡实现”将作为一种工具进行研究， 动态模型所需的尺寸。 模拟和真实的时间 实验将检查动态模型的准确性， 控制策略的执行。