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首页> 外文会议>Mechatronics and its Applications, 2009. ISMA '09 >Techniques of vibration and end-point trajectory control of flexible manipulator
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Techniques of vibration and end-point trajectory control of flexible manipulator

机译：柔性机械手的振动和终点轨迹控制技术

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This paper presents investigations into the development of control schemes for end-point vibration suppression and input trajectory of a flexible manipulator. A constrained planar single-link flexible manipulator is considered and the dynamic model of the system is derived using the assumed mode method. To study the effectiveness of the controllers, initially a Linear Quadratic Regulator (LQR) is developed for control of rigid body motion. This is then extended to incorporate a non-collocated PID controller and a feedforward controller based on input shaping techniques for control of vibration (flexible motion) of the system. For feedforward controller, the positive input shapers are proposed and designed based on the properties of the system. Simulation results of the response of the manipulator with the controllers are presented in time and frequency domains. The performances of the control schemes are assessed in terms of level of vibration reduction, input tracking capability and time response specifications. Finally, a comparative assessment of the control techniques is presented and discussed.
机译：本文对柔性机械臂端点振动抑制和输入轨迹的控制方案的发展进行了研究。考虑了约束平面单连杆柔性机械臂，并使用假设模式方法推导了系统的动力学模型。为了研究控制器的有效性，最初开发了用于控制刚体运动的线性二次调节器（LQR）。然后将其扩展为结合非共置PID控制器和基于输入整形技术的前馈控制器，以控制系统的振动（灵活运动）。对于前馈控制器，正反馈整形器是根据系统的特性提出和设计的。在时域和频域中显示了带有控制器的机械手响应的仿真结果。控制方案的性能根据减振水平，输入跟踪能力和时间响应规范进行评估。最后，介绍并讨论了控制技术的比较评估。

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