柔性机械臂动力学建模和控制研究

综述了柔性机械臂动力学建模和动力学控制等相关问题，介绍了柔性机械臂动力学建模中的旋转代数法、基于Lagrange方程的方法及基于模型辩识的方法；介绍了柔性机械臂动力学控制中的PD控制、反馈控制、自适应控制、鲁棒控制、预测控制、非线性控制和智能控 制，最后详细介绍了柔性机械臂动力学控制中的混合控制及智能结构；指出在柔性机械臂动力学建模和动力学控制应解决的问题。这对包括柔性机械臂在内的多柔体系统动力学建模与控制问题的研究有一定的促进作用。 

THE STUDY ON DYNAMICS MODELLING AND CONTROL OF FLEXIBLE MECHANICAL ARMS

In this paper, a review has been made on dynamics modelling and control of flexible mechanical arm, including the rotation algebra method, the method based on Lagrange equation and the method based on model identification in dynamics modelling, the PD control, the feedback control, the adaptive control, the robust control, the predictive control, the nonlinear control and the intelligent control in dynamics control, and the mixed control. The problems to be solved in dynamics modelling and dynamics control of flexible mechanical arms are discussed.