DESIGN AND IMPLEMENTATION OF A CONTROL SYSTEM FOR A FLEXIBLE PLANAR MANIPULATOR

机译：柔性平面操纵器控制系统的设计与实现

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The need for light and flexible robots is greatly increasing in the industrial engineering environment. This paper presents the design and the implementation of a PID controller for a flexible planar manipulator. The controller synthesis and tuning is based on a very accurate dynamic model of the system and is applied to a significant test case, namely a five-bar closed-chain mechanism, driven by two electric motors. The chosen PID controller is described, and the experimental results are presented and discussed. The approach followed proves the practical usefulness of the dynamic model proposed even when applied to a complex test case.

机译：在工业工程环境中，对轻便灵活的机器人的需求大大增加。本文介绍了柔性平面机械手的PID控制器的设计和实现。控制器的综合和调整基于系统的非常精确的动态模型，并应用于重要的测试案例，即由两个电动机驱动的五连杆闭链机构。描述了所选的PID控制器，并介绍和讨论了实验结果。所采用的方法证明了所提出的动态模型的实际实用性，即使将其应用于复杂的测试案例也是如此。

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《7th Biennial Conference on Engineering Systems Design and Analysis 2004(ESDA 2004) vol.1: Advanced Energy Systems; Advanced Heat Transfer in Engineering Systems; ...》|2004年|P.725-732|共8页
会议地点 Manchester(GB)
作者
Adriano Biason; Alessandro Gasparetto; Marco Giovagnoni; Alberto Trevisani; Vanni Zanotto;
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作者单位

Dipartimento di Ingegneria Elettrica, Gestionale e Meccanica -Via delle Scienze 208, 33100, UD Universita di Udine, Italy;

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原文格式 PDF
正文语种 eng
中图分类机械设计、计算与制图;
关键词
control system; flexible manipulator; PID controller;

机译：控制系统;柔性机械手; PID控制器;

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专利

1. Two-time scale controller design for a high speed planar parallel manipulator with structural flexibility [J] . Bongsoo Kang, Benny Yeung, James K. Mills Robotica . 2002,第期

机译：具有结构灵活性的高速平面并联机械手的二次缩放控制器设计
2. A fast stable control strategy based on system energy for a planar single-link flexible manipulator [J] . Meng Qing-Xin, Lai Xu-Zhi, Wang Ya-Wu, Nonlinear dynamics . 2018,第1期

机译：基于系统能量的平面单挂柔性机械手的系统能量快速稳定控制策略
3. Optimal design for robust control of uncertain flexible joint manipulators: a fuzzy dynamical system approach [J] . Han Jiang, Chen Ye-Hwa, Zhao Xiaomin, International Journal of Control . 2018,第4a6期

机译：不确定灵活联合机械手鲁棒控制的最优设计：模糊动力系统方法
4. DESIGN AND IMPLEMENTATION OF A CONTROL SYSTEM FOR A FLEXIBLE PLANAR MANIPULATOR [C] . Adriano Biason, Alessandro Gasparetto, Marco Giovagnoni, Biennial Conference on Engineering Systems Design and Analysis . 2004

机译：灵活平面机械手控制系统的设计与实现
5. Dynamic modeling and active vibration control of a planar 3-PRR parallel manipulator with three flexible links. [D] . Zhang, Xuping. 2009

机译：具有三个柔性连杆的平面3-PRR并联机械手的动态建模和主动振动控制。
6. Design and Implementation of an On-Chip Low-Power and High-Flexibility System for Data Acquisition and Processing of an Inertial Measurement Unit [O] . Zhenyi Gao, Bin Zhou, Yang Li, 2020

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7. Design of Open-Closed-Loop Iterative Learning Control With Variable Stiffness for Multiple Flexible Manipulator Robot Systems [O] . Jian Dong, Bin He, Ma Ming, 2019

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8. Study of Design and Control of Remote Manipulators. Modeling Manipulator Arms with Distributed Flexibility for Design and Control [R] . Book, W. J. 1974

机译：远程操纵器的设计与控制研究。建模机械臂具有分布式灵活性，用于设计和控制

DESIGN AND IMPLEMENTATION OF A CONTROL SYSTEM FOR A FLEXIBLE PLANAR MANIPULATOR

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