| 柔性变截面滑移式机器人手臂的动力学与控制 |
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| 引用本文： | 魏金铎 王和祥. 柔性变截面滑移式机器人手臂的动力学与控制[J]. 应用力学学报, 1993, 10(4): 20-27 |
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| 作者姓名： | 魏金铎 王和祥 |
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| 作者单位： | 清华大学，清华大学，清华大学 北京 100084，北京 100084，北京 100084 |
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| 摘 要： | 本文研究柔性变截面滑移式机械手的动力学与控制。首先利用Ｋａｎｅ方法分析柔性机械手的振动特性；然后基于有限元法导出一种控制机械手振动的模型，将控制过发为“粗控”和“精控”两步进行；最进行了数值模拟。
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| 关 键 词： | 机械手 动力学 最优控制 结构力学 |
Vibrations and Control in a Moving Flexible Robot Arm with Variable Sections |
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| Wei Jinduo Wang Hexiang Yin yican. Vibrations and Control in a Moving Flexible Robot Arm with Variable Sections[J]. Chinese Journal of Applied Mechanics, 1993, 10(4): 20-27 |
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| Authors: | Wei Jinduo Wang Hexiang Yin yican |
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| Affiliation: | Tsinghua University |
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| Abstract: | Dynamics and control in a moving flexible robot arm with variable sections are studied. Firstly Kane's equation is used for analyzing vibration properties of flexible arm, the stability domain is obtained. Then the model to control vibrations of the arm has been established by the finite element method. Considering the system noise and measurement noise, the control is devided into two steps, roughing control and precision control. Finally numerical simulation has been made. |
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| Keywords: | flexible robol arm dynamics optimal control |
| 本文献已被 CNKI 维普 等数据库收录！ |
