摘要
基于铰链结构研究了机械臂协调操作柔性负载系统的动力学建模与控制问题。提出了虚拟连杆的概念,以虚拟连杆为基准运用有限元法与拉格朗日方程建立了柔性负载的运动方程和振动方程,在负载坐标空间建立了系统的动力学模型。针对振动状态的不可测量性,应用刚性控制规律设计了控制器,给出了一种补偿系统动力学对位置控制影响的方法。仿真结果验证了该方法的有效性。
The issues on dynamic modeling and control of two manipulators in handling flexible payload based on pinned-pinned model were studied. A definition of virtual link was given,and kinematics and vibration equations were derived with this definition as a benchmark by using finite element method and Lagrangian function. Then the model of cooperative system in payload space was built. A rigid controller for the unmeasured vibration states was designed and a compensatory method for the impact on position control caused by system dynamics was given. Simulation results prove the validity of this proposed approach.
出处
《吉林大学学报（工学版）》
EI
CAS
CSCD
北大核心
2008年第2期444-448,共5页
Journal of Jilin University:Engineering and Technology Edition
基金
国家自然科学基金项目(60375030
60674091)
关键词
自动控制技术
柔性负载
虚拟连杆
动力学建模
机械臂
automatic control technology
flexible payload
virtual link
dynamic modeling
manipulator
