摘要
本文详细介绍了可用于简单柔性机械臂主动控制和逆动力学研究的实验装置。该装置由直流伺服电机、谐波减速器、柔性臂结构和支架等组成，测速电机、光电编码器和应变片作为其检测元件。为了保证铰关节的轨迹追踪精度，采用了由位置反馈环、速度反馈环和电流反馈环组成的伺服系统。最后，利用该实验装置实验证实了一种柔性机械臂点位控制边动力学方法的有效性。
Abstract In this paper,the experimental plant of a one-link flexible manipulator,consisting of a dc servo motor,a harmonic drive, a flexible link and support, is introduced. A tachometer generator and a optimal encoder are used to mesure the velocity and position of the joint,respectively. The relative elastic deformation of the flexible link is measured by strain gauge. The servo systems having high precision is composed of a position feedback loop,a velocity feedback loop and a electric current feedback loop. In order realize point-to-point positioning control of a flexible manipulator,a inverse dynamic approach is developed. The experimental validation of the approach is made using the plant and the results are more satisfactory.
出处
《振动与冲击》
EI
CSCD
北大核心
1994年第2期1-6,共6页
Journal of Vibration and Shock
基金
国家自然科学基金
高校博士点基金
