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首页> 外文期刊>Chinese journal of aeronautics >Smart Material Based Complex Mode Active Control of Flexible Manipulators with Kinematic Redundancy
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Smart Material Based Complex Mode Active Control of Flexible Manipulators with Kinematic Redundancy

机译：运动冗余的基于智能材料的柔性机械臂复杂模式主动控制

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摘要

An active control methodology is presented for suppressing the vibratory response of flexible redundant manipulators with bonded piezoceramic actuators and strain gage sensors. Firstly, the dynamic equation of the manipulator is decoupled by means of the complex mode theory and the state-space expression of the controlled system is developed. Secondly, a continuous linear quadratic regulator (LQR) state feedback controller is designed based on the minimum principle. Thirdly, a full-order Luenberger state observer featuring an assigned degree of stability is determined via the duality between control and estimation. Finally, a numerical simulation is carried out on a planar 3R flexible redundant manipulator. The simulation results reveal that the dynamic performance of the system is improved rapidly and significantly.
机译：提出了一种主动控制方法，用于抑制带有压电陶瓷促动器和应变计传感器的柔性冗余机械手的振动响应。首先，利用复模理论对机械手的动力学方程进行解耦，得到控制系统的状态空间表达式。其次，基于最小原理设计了连续线性二次调节器（LQR）状态反馈控制器。第三，通过控制和估计之间的对偶来确定具有指定稳定性的全阶Luenberger状态观测器。最后，在平面3R柔性冗余机械臂上进行了数值模拟。仿真结果表明，该系统的动态性能得到了快速，显着的提高。

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