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首页> 外文会议>7th Biennial Conference on Engineering Systems Design and Analysis 2004(ESDA 2004) vol.1: Advanced Energy Systems; Advanced Heat Transfer in Engineering Systems; ... >VIBRATION CONTROL UNDER FAST MOTION OF A GOLF SWING ROBOT
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VIBRATION CONTROL UNDER FAST MOTION OF A GOLF SWING ROBOT

机译：快速旋转高尔夫摇摆机器人的振动控制

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摘要

Golf swing robots can be thought as a kind of fast motion manipulators with a flexible link. Robot manipulators are affected strongly from Corioli's and centrifugal forces in fast motion. It is said that these forces make the performance of feedback control worse. In the same way, ordinal state observers for the linear system cannot estimate the accurate states of those systems. Nonlinear observers estimate the states more accurately than the linear one. However, these cost more computing time and need the exact model of the system. Thus we use a state observer that considers disturbances such as dynamics not modeled, uncertainties and external disturbances to improve the performance of state estimation and the feedback control. The structure of this observer is a combined system of a full-order observer and a type 1 digital servo system. It can estimate not only the state variables of the system accurately but also disturbances in spite of simple algorithm.
机译：高尔夫挥杆机器人可以看作是一种具有灵活链接的快动作操纵器。机器人操纵器在快速运动中受到Corioli力和离心力的强烈影响。据说这些力量使反馈控制的性能变差。同样，线性系统的序数状态观测器无法估算那些系统的准确状态。非线性观测者比线性观测者更准确地估计状态。但是，这些会花费更多的计算时间，并且需要系统的精确模型。因此，我们使用状态观察器来考虑诸如未建模的动力学，不确定性和外部干扰等干扰，以改善状态估计和反馈控制的性能。该观察器的结构是全阶观察器和1型数字伺服系统的组合系统。尽管算法简单，但它不仅可以准确估计系统的状态变量，而且可以估计干扰。

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