Experimental Investigation of a Flexible Manipulator with General Motions

这项研究的主要目标是弥合不断增长的理论研究与灵活系统如何响应的基本知识之间的差距。研究了一种基于“假定模式”的通用建模技术，该技术具有足够的通用性，可以从多种来源获取输入。控制律将使用经典和现代设计方法来综合，以抑制振动并精确控制柔性系统的运动。将研究“平衡实现”技术，作为估计动态模型所需大小的工具。仿真和实时实验将检验动态模型的准确性和控制策略的性能。

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.