何广平, 陆震. 柔性冗余度机器人振动抑制的一种方法[J]. 机器人, 1997, 19(3): 173-179,186.
引用本文: 何广平, 陆震. 柔性冗余度机器人振动抑制的一种方法[J]. 机器人, 1997, 19(3): 173-179,186.
HE Guangping, LU Zhen. A METHOD OF SUPPRESSING VIBRATION USING SELF-MOTION OF FLEXIBLE-REDUNDANT ROBOT[J]. ROBOT, 1997, 19(3): 173-179,186.
Citation: HE Guangping, LU Zhen. A METHOD OF SUPPRESSING VIBRATION USING SELF-MOTION OF FLEXIBLE-REDUNDANT ROBOT[J]. ROBOT, 1997, 19(3): 173-179,186.

柔性冗余度机器人振动抑制的一种方法

A METHOD OF SUPPRESSING VIBRATION USING SELF-MOTION OF FLEXIBLE-REDUNDANT ROBOT

  • 摘要: 新一代机器人要求具有轻质、高速、重载、高精度以及高度灵活性的特点.由于结构柔性引起的振动使实现高精度控制十分困难.研究柔性冗余度机器人就是为了克服现有机器人的不足.我国的机器人技术研究在这一方面还几乎是空白.本文构造了一种利用冗余度机器人的“自运动”来抑制机器人臂振动的方法,从理论上分析了这种方法的依据,通过仿真验证了其可行性.

     

    Abstract: Modern roobt needs the characteristics of moving rapidly, grasping heavier weight, giving better accuracy and providing better manipulability. The structure flexibility of robot arm results in the hard to controlling robot arm with high accuracy and high speed. For getting over the defaults of non redundant robot arm, to study the flexible redundant robot is neccessary. In this field, neither in world nor in our country, published few paper. In this article, we give a method of using the self motion of redundant robot to conquerd the fault of vibration that results from the nature of flexible structure of robot arm. From theory, we analysis the fundamental of the given method, and finally, using the space four degrees robot that was designed by us to simulate the simulation results verifies the method is valid to be used to suppress the vibration of robot arm end point.

     

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