Abstract:In this paper, the theory and strategy of vibration control for flexible redundant manipulators are firstly studied by the modal theory. On this basis, by analyzing the selection of self motions which meet the need of suppressing vibration, we point out that flexible redundant manipulators still have the second optimization capability at the time of suppressing vibration, then a method for optimizing joint torques on the premise of suppressing vibration is presented. Finally, with this method, simulations of suppressing vibration and optimizing joint torques for a planar three link manipulator with the last link flexible are carried out. The simulation results demonstrate its feasibility.
1.Nguyen LA,Walker I Detal.Dynamic Control of Flexible Kinematically Redundant Robot Manipulators.IEEE Trans-actions on Robotics and Automation,1992,8(6):759~767 2 张宪民,刘宏昭,曹惟庆.柔性机构弹性振动的主动控制.机械工程学报,1996,32(1):9~16 3 Kazerounian K,Nedungdi A.An Alternative Method for Minimization of the Driving Forces in Redundant Manipulators.IEEE Confon Robotics and Automation.1987:1701~1706 4 Hollerbach J M,Suh K C.Redundancy Resolution of Manipulator Through Torque Optimization.IEEE J of Robotics and Automation.1987,3(4):308~316 5 王国荣.矩阵与算子广义逆.北京:科学出版社,1994 6 解学书.最优控制理论与应用.北京:清华大学出版社,1986 7 岳士岗.冗余度柔性机器人动力学研究.北京工业大学博士学位论文,1995