STUDY ON TORQUE OPTIMIZATION FOR FLEXIBLE REDUNDANT MANIPULATORS
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摘要: 本文首先应用模态理论，对柔性冗余度机器人振动的控制问题的原理与策略进行了研究．在此基础上通过对满足抑振要求的自运动的选取进行分析，指出柔性冗余度机器人在通过优化其自运动实现振动抑制的同时还具有二次优化的能力，并给出了在满足抑振的前提下实现关节力矩优化的方法．最后对一个末杆为柔杆的平面三杆机械手的振动控制与力矩优化进行了仿真，结果验证了该方法的可行性．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.
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