High-Speed Motion Control of a Flexible Robot by Using Experimental Modal Analysis

针对柔性机械臂提出了一种新的控制方法。首先，提出了两种分段线性化表示控制命令和所产生的末端执行器运动之间的输入输出关系的方法，使得它们通过使用输入输出关系的测量传递函数数据来考虑手臂灵活性的影响。然后使用这些方法来预测由梯形速度模式控制的末端执行器的振动运动，以获得与实际运动很好的对应。最后，基于以上获得的结果，开发了一种计算实现所需平滑运动的控制命令的方法，作为上述运动预测的逆方法。实验结果表明，机器人手臂的柔性振动得到了较好的抑制。

A new control method for a flexible robot arm has been developed. First, two methods for piecewise linearized representation of the input-output relation between a control command and the resulting end effector motion have been proposed such that they include the effect of arm flexibility through the use of measured transfer function data of the input-output relation. These methods are then used for predicting a vibratory motion of the end effector which is commanded by a trapezoidal velocity pattern to obtain a good correspondence with the actual motion. Finally, based on the results obtained above, a method to compute the control command which realizes a desired smooth motion has been developed as the inverse method of the above motion prediction. Experimental results show considerable suppression of flexibility-induced vibration of the robot arm.