本文關鍵詞：2R欠驅(qū)動平面柔性機械臂的位置控制策略與試驗研究，由筆耕文化傳播整理發(fā)布。

2R欠驅(qū)動平面柔性機械臂的位置控制策略與試驗研究

Position Control Strategy and Experimental Research of A 2R Underactuated Planar Flexible Manipulator

[1] [2] [3] [4] [5]

CHEN Wei 1, 2 YU Yueqing 3 ZHAO Xinhua ~ ZHANG Xizheng 2 SHI Caihong 2 （1. School of Mechanical Engineering, Tianjin University of Technology, Tianjin 300384; 2. Instit

[1]天津理工大學機械工程學院,天津300384; [2]軍事醫(yī)學科學院衛(wèi)生裝備研究所,天津300161; [3]北京工業(yè)大學機械工程與應用電子技術學院,北京100124

文章摘要：針對同時具有被動關節(jié)和柔性桿的欠驅(qū)動平面機械臂,提出一種簡單易行的分段位置控制策略.以2R欠驅(qū)動平面柔性機械臂為研究對象,建立機械臂的假設模態(tài)動力學模型,分析系統(tǒng)的動力學耦合特性與可控性.通過被動關節(jié)處制動器的開閉切換,研究平面柔性機械臂的分段位置控制策略,采用PID方法分別設計各階段主動、被動關節(jié)的控制算法.最后,基于自行開發(fā)的欠驅(qū)動平面機械臂的試驗平臺及實時控制系統(tǒng),完成了2R欠驅(qū)動平面柔性機械臂位置控制的試驗研究.仿真和試驗結果表明,主動關節(jié)和被動關節(jié)在各階段都能很好地跟蹤目標值,進而實現(xiàn)機械臂的操作任務,驗證了所提控制方法的可行性和有效性,以及欠驅(qū)動柔性機械臂動力學模型的正確性.

Abstr：A simple position control strategy in stages is presented for the underactuated planar manipulator with passive joints and flexible links. The assumed mode dynamic model is established of a 2R underactuated manipulator with a second flexible link and a second passive joint. The dynamic coupling characteristics and the controllability of this system are analyzed. The position control strategy of this manipulator is investigated in stages based on the switch of the brake at the passive joint. And the corresponding algorithms of both the active and passive joints are designed by using the PID method. Finally, on the basis of a self-designed experimental setup of an underactuated planar manipulator, the position control of this 2R underactuated planar flexible manipulator is experimentally completed. The simulative and experimental results illustrate that the active and passive joints can track the targets perfectly in respective stage and the operational task of this manipulator can be implemented, which verify the effectiveness of the proposed method and the correctness of the dynamic model of the underactuated flexible manipulator.

文章關鍵詞：

Keyword：:Underactuated manipulator Flexible Position control PID

課題項目：國家自然科學基金（11302147,51275353）、天津市高等學�？萍及l(fā)展基金計劃（20100402）、中國博士后科學基金（軍隊系統(tǒng)）和天津市復雜系統(tǒng)控制理論及應用重點實驗室資助項目.

作者信息：會員可見

  本文關鍵詞：2R欠驅(qū)動平面柔性機械臂的位置控制策略與試驗研究，，由筆耕文化傳播整理發(fā)布。