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Lumped Element Modeling of a Flexible Manipulator System

机译：柔性机械手系统的集总元素建模

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摘要

This paper is concerned with a modeling method that can be used for an experimental identification of a dynamic system. More specifically, an equivalent lumped element system is presented to represent in a unique and exact manner a complete proportional–derivative (PD) controlled servo positioning system having a flexible manipulator. The impedance and mobility approach is used to transform the P and D control gains to an electrical spring and an electrical damper, respectively. The impedance model method is used to transform the flexible manipulator to a coupled system between a single contact mass at the driving position and a series of noncontact masses each of which is connected to the contact mass via a resilient member. This method is applicable whenever the driving point response of such a manipulator is available. Experimental work is presented to support the theory developed.
机译：本文涉及可用于动态系统实验识别的建模方法。更具体地说，提出了等效的集总元件系统，以独特且精确的方式表示具有柔性机械手的完整比例-微分（PD）控制的伺服定位系统。阻抗和迁移率方法用于将P和D控制增益分别转换为电弹簧和电阻尼器。阻抗模型方法用于将柔性机械手转换为驱动位置上的单个接触质量和一系列非接触质量之间的耦合系统，每个非接触质量均通过弹性构件连接到接触质量。只要有这种机械手的驱动点响应可用，该方法就适用。提出实验工作以支持所发展的理论。

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