Vibration controllability of underactuated robots with flexible links

Vibration controllability of underactuated robots with flexible links
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柔性连杆欠驱动机器人的振动可控性

DOI：
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发表时间：
2006
期刊：
影响因子：
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通讯作者：
Liying Su
Liying Su
中科院分区：
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文献类型：
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作者：
Wei Chen;Yueqing Yu;Xuping Zhang;Liying Su

文献摘要

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柔性欠驱动机器人的可控性分析是实现系统有效控制的重要准备。基于假设模态法建立的动力学模型，分两个阶段对具有一个被动关节和第三柔性杆的平面三自由度欠驱动机械臂的可控性进行了分析。首先，在忽略杆件弹性变形的情况下，直接得到了相应刚性系统在不同驱动器位置下的状态能控性结果;其次，根据状态能控性结果，研究了欠驱动柔性系统的结构振动能控性。结果表明，欠驱动柔性机械臂的振动可控性既依赖于关节构型，又依赖于驱动器位置。如果欠驱动刚性机器人不具有状态可控性，那么相应柔性机器人的振动可控性就不确定且没有意义。通过对两个振动可控系统在不同驱动器位置下的模态可达性指标的仿真比较，得出了具有第二被动关节的系统比具有第三被动关节的系统更容易控制柔性杆振动的结论。最后，将该方法推广到具有一个被动关节的n自由度欠驱动柔性机器人。
The controllability analysis of underactuated robots with flexible links is the important preparatory step to efficiently control the system. In this paper, based on the dynamic model using the assumed mode method, controllability of a planar 3DOF underactuated manipulator with one passive joint and the 3-rd flexible link is analyzed in two stages. Firstly, neglecting the elastic deformations of the link, the state controllability results of the corresponding rigid system at various actuator placements is directly introduced from the preceding study; secondly, the structural vibration controllability of underactuated flexible one is investigated according to the state controllability result. It is shown that the vibration controllability of an underactuated flexible manipulator is both joint-configuration-dependent and actuator-placement-dependent. If an underactuated rigid robot is not state controllable, then the vibration controllability of the corresponding flexible one is uncertain and meaningless. By comparing the simulation of the modal accessibility index of two vibration controllable systems at different actuator placements, a conclusion can be drawn that the system with the second passive joint is easier than the one with the third passive joint to control the vibration of flexible link. Finally, the proposed method is extended to n-DOF underactuated flexible robots with one passive joint.