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[会议论文]

Vibration Control of Nonholonomically Redundant Flexible Manipulators

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作者:

Chen Wei (Chen Wei.) | Yu Yue-qing (Yu Yue-qing.) (学者:余跃庆) | Zhao Xin-hua (Zhao Xin-hua.) | 展开

收录:

CPCI-S

摘要:

Underactuated flexible manipulator with redundant degrees of freedoms is investigated. Position control method of a single active joint driving the passive joint is given. According to the characteristics of nonholonomiclly redundant flexible manipulators, the optimal control strategy of multiple active joints driving the passive joints is proposed. As the elastic vibration of flexible links can not be eliminated only through position control, the vibration control schemes are presented again. The simulation results show that the elastic vibration is suppressed effectively. Therefore, for nonholonomically redundant flexible manipulator, both position control and vibration control are implemented successfully, which verifies the validity of the control schemes.

关键词:

position control Nonholonomical redundant flexible manipulator vibration control

作者机构:

  • [ 1 ] [Chen Wei]Tianjin Univ Technol, Tianjin, Peoples R China
  • [ 2 ] [Zhao Xin-hua]Tianjin Univ Technol, Tianjin, Peoples R China
  • [ 3 ] [Zhao Lian-yu]Tianjin Univ Technol, Tianjin, Peoples R China
  • [ 4 ] [Yu Yue-qing]Beijing Univ Technol, Beijing, Peoples R China

通讯作者信息:

  • [Chen Wei]Tianjin Univ Technol, Tianjin, Peoples R China

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相关文章:

来源 :

ADVANCED DESIGN AND MANUFACTURE II

ISSN: 1013-9826

年份: 2010

卷: 419-420

页码: 617-,

语种: 英文

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